CN102724144A - Self-adaptive gateway device and data transmission method thereof - Google Patents
Self-adaptive gateway device and data transmission method thereof Download PDFInfo
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- CN102724144A CN102724144A CN2012102171744A CN201210217174A CN102724144A CN 102724144 A CN102724144 A CN 102724144A CN 2012102171744 A CN2012102171744 A CN 2012102171744A CN 201210217174 A CN201210217174 A CN 201210217174A CN 102724144 A CN102724144 A CN 102724144A
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Abstract
The invention provides a self-adaptive gateway device and a data transmission method thereof. The device comprises a first controller area network (CAN) transceiver, a first photoelectric coupling circuit, a microcontroller, a first CAN controller, a second CAN controller, a second photoelectric coupling circuit, a second CAN transceiver and a data storage module; the first CAN transceiver is electrically connected to the first CAN controller through the first photoelectric coupling circuit; the first CAN controller is electrically connected to the microcontroller; the data storage module is connected with the microcontroller; the first CAN transceiver is connected with a first CAN bus; the second CAN transceiver is connected with a second CAN bus; the second CAN controller is connected to the microcontroller; and the second CAN transceiver is electrically connected to the second CAN controller through the second photoelectric coupling circuit. The bit rate of the transmission data of the first and second CAN buses is unknown; and when the data is transmitted, the first CAN controller detects the bit rate of the transmission data of the first CAN bus, and the second CAN controller detects the bit rate of the transmission data of the second CAN bus.
Description
Technical field
The invention relates to a kind of gateway control technology, and particularly relevant for a kind of adaptive gateway device of automobile and method of transmission data thereof of being used for.
Background technology
A kind of communication that numerous control and the exchanges data between the tester are used in controller local area network (CAN, the cotroller area network) automobile.All adopt the mode of two CAN buses on a lot of automobiles; Be called dynamical system high-speed CAN and bodywork system low speed CAN respectively, the main connecting object of dynamical system high-speed CAN is that engine controller, electric machine controller, battery management system, air bag, ABS etc. are closely related with running car, the exchanges data amount is big, real-time requires very high control system.The main connecting object of bodywork system low speed CAN is that real-times such as automobile door and window, console, instrument, illumination, entertainment systems require not too high body electric system control system.Because the communication speed of two CAN buses maybe be different, traditional gateway generally is to realize that dynamical system high-speed CAN from certain fixed rate is to the data communication the bodywork system low speed CAN of another fixed rate.
Continuous increase along with automobile function; Increasing electronic control unit (ECU, electronic control unit) is introduced in the automobile, and more complicacy and communication load factor are approached safety line gradually alternately to cause bus signals; In order to address this problem, multibus network is used and is given birth to.Because the difference of application demand; Bus communication speed between each network maybe be different; Therefore can use gateway to realize the information interaction between each CAN network, but traditional gateway can only realize that dynamical system high-speed CAN from certain fixed rate is to the data communication the bodywork system low speed CAN of another fixed rate.When between the CAN that is used for two different rates in addition, the gateway cisco unity malfunction.
Summary of the invention
To the problems referred to above, the purpose of this invention is to provide a kind of adaptive gateway device, its applying flexible intelligence, the rate limit of not come source network and objective network can realize that automatic bit rate detects, and does not also influence all activities of other nodes on the bus simultaneously.
The present invention also provides a kind of method of above-mentioned adaptive gateway device transmission data.
The present invention proposes a kind of adaptive gateway device; Comprise a CAN transceiver, the first photoelectricity coupling circuit, microcontroller, a CAN controller, the 2nd CAN controller, the second photoelectricity coupling circuit, the 2nd CAN transceiver and data memory module; A said CAN transceiver is electrically connected to a CAN controller through the first photoelectricity coupling circuit; A said CAN controller is electrically connected to microcontroller; Said data memory module is connected with said microcontroller, and a said CAN transceiver connects a CAN bus, and said the 2nd CAN transceiver connects the 2nd CAN bus; The 2nd CAN controller is connected to microcontroller, and said the 2nd CAN transceiver is electrically connected to said the 2nd CAN controller through the second photoelectricity coupling circuit.The bit rate of the one CAN bus and the 2nd CAN bus transfer data is unknown, and in the transmission data procedures, a said CAN controller and the 2nd CAN controller detect the bit rate of a said CAN bus and the 2nd CAN bus transfer data respectively.
In one embodiment of the invention, said microcontroller is realized the initialization setting of a CAN controller and the 2nd CAN controller, and realizes the reception and the transmission of data through said CAN controller of control and the 2nd CAN controller.
In one embodiment of the invention, bit rate table of predefine in the software that said adaptive gateway device is used, this table register BTR0, BTR1 of having comprised the corresponding bit timing parameter of all possible bit rate and each bit rate is provided with numerical value.
In one embodiment of the invention, said bit timing parameter mainly comprises baud rate preset value, sampling configuration, synchronous redirect width, bit timing section 1 and bit timing section 2.
In one embodiment of the invention, a said CAN controller and the 2nd CAN controller all support only to listen pattern, and under this pattern, a CAN controller and the 2nd CAN controller do not produce erroneous frame, an accessible information.
In one embodiment of the invention, the interface between a said CAN controller and the 2nd CAN controller and the physical bus adopts twisted-pair feeder, coaxial cable or the optical fiber CAN EBI as transmission medium.
The present invention also proposes a kind of method of above-mentioned adaptive gateway device transmission data, and may further comprise the steps: a CAN transceiver receives data from a CAN bus, and the warp first photoelectricity coupling circuit is with said transfer of data to a CAN controller; A said CAN controller detects the bit rate of a said CAN bus transfer data; Said the 2nd CAN controller detects the bit rate of said the 2nd CAN bus transfer data; A said CAN controller and the 2nd CAN controller are resolved the data that receive, and are repackaged into the packet of the bit rate form on the 2nd CAN bus; Packet after the said processing is sent to the 2nd CAN bus via the second photoelectricity coupling circuit and the 2nd CAN transceiver.
In one embodiment of the invention, a said CAN controller detects the bit rate of a said CAN bus transfer data and step that said the 2nd CAN controller detects the bit rate of said the 2nd CAN bus transfer data includes: get into reset mode; Highest order speed is set; Setting enables to receive to be interrupted and the bus error interruption; Get into and only listen pattern; Receive data and judge whether to produce bus error and interrupt; If judge that producing bus error interrupts, and gets into reset mode once more; Switch to next lower bit rate; Get into and only listen pattern, and return said reception data and judge whether to produce the step that bus error interrupts; If judge that not producing bus error interrupts, then judge whether to produce to receive to interrupt; If judging to produce to receive interrupts, then think to detect correct bit rate, get into operator scheme; If judging not produce to receive interrupts, then return said reception data and judge whether to produce the step that bus error interrupts.
In one embodiment of the invention,, then think to detect correct bit rate, get into after the step of operator scheme, further have the step of confirming said correct bit rate to comprise: to use this correct bit rate to receive data if judging to produce to receive interrupts; And judge whether that generation receives interruption.
In one embodiment of the invention; Bit rate table of predefine in the software that said adaptive gateway device is used; Register BTR0, BTR1 that this table has comprised the bit timing parameter of all possible bit rate and each bit rate correspondence are provided with numerical value, according to said bit rate table highest order speed are set.
The method of adaptive gateway device of the present invention and transmission data thereof can realize that automatic bit rate detects, and does not also influence all activities of other nodes on the bus simultaneously.This adaptive gateway device gateway applying flexible intelligence, the rate limit of not come source network and objective network.
Above-mentioned explanation only is the general introduction of technical scheme of the present invention; Understand technological means of the present invention in order can more to know; And can implement according to the content of specification, and for let above and other objects of the present invention, feature and advantage can be more obviously understandable, below special act embodiment; And conjunction with figs., specify as follows.
Description of drawings
Fig. 1 is the module map of the adaptive gateway device of preferred embodiment of the present invention.
Fig. 2 is the method flow diagram of the adaptive gateway device transmission data of preferred embodiment of the present invention.
Fig. 3 is the workflow diagram of the CAN controller detecting position speed of preferred embodiment of the present invention.
Embodiment
Usually, the gateway major function is: from the information that read received; Routing iinformation for example according to agreement, carries out message and unpacks, packs; Send the information after handling to second network.This patent has designed and a kind ofly under the bit rate of the unknown, also can normally read information from a CAN network, and to the gateway of another forwarded.
See also Fig. 1, be the module map of the adaptive gateway device of preferred embodiment of the present invention.In the present embodiment; This adaptive gateway device comprises a CAN transceiver 10, the first photoelectricity coupling circuit 20, microcontroller (MCU, Micro Control Unit) the 30, the one CAN controller 40, the 2nd CAN controller 50, the second photoelectricity coupling circuit 60, the 2nd CAN transceiver 70 and data memory module 80.A said CAN transceiver 10 is electrically connected to a CAN controller 40 through the first photoelectricity coupling circuit 20, and a said CAN controller 40 is electrically connected to MCU 30.Said the 2nd CAN transceiver 70 is electrically connected to the 2nd CAN controller 50 through the second photoelectricity coupling circuit 60, and said the 2nd CAN controller 50 is electrically connected to MCU 30.Said data memory module 80 is connected with said MCU 30.
A said CAN transceiver 10 connects a CAN bus 90, to receive data from a CAN bus 90 or to send data to a CAN bus 90.The said first photoelectricity coupling circuit 20 connects the transmitting terminal and the receiving terminal of a said CAN transceiver 10.Said the 2nd CAN transceiver 70 connects the 2nd CAN bus 91, to receive data from the 2nd CAN bus 91 or to send data to the 2nd CAN bus 91.The said second photoelectricity coupling circuit 60 connects the transmitting terminal and the receiving terminal of said the 2nd CAN transceiver 70.Interface between a said CAN controller 40 and the 2nd CAN controller 50 and the physical bus adopts twisted-pair feeder, coaxial cable or the optical fiber CAN EBI as transmission medium.
Said MCU 30 realizes the initialization setting of CAN controllers 40 and the 2nd CAN controller 50, and communication tasks such as reception through said CAN controller 40 of control and the 2nd CAN controller 50 realization data and transmission.A said CAN controller 40 and the 2nd CAN controller 50 support only to listen pattern; Under this pattern, a CAN controller 40 and the 2nd CAN controller 50 do not produce erroneous frame, an accessible information; Can realize real monitoring function, to detect the bit rate of its bus transfer data that is connected.
In conjunction with a preferred embodiment, adaptive gateway device operation principle of the present invention is described below.Please combine to see figures.1.and.2, Fig. 2 is the method flow diagram of the adaptive gateway device transmission data of preferred embodiment of the present invention.Being sent to the 2nd CAN bus 91 with data from a CAN bus 90 is example.A said CAN transceiver 10 receives data from a CAN bus 90; And the warp first photoelectricity coupling circuit 20 is with said transfer of data to a CAN controller 40; Wherein, the bit rate unknown (step S21) of a said CAN bus 90 and the 2nd CAN bus 91 transmission data.At this moment, a said CAN controller 40 detects the bit rate (step S22) of a said CAN bus 90 transmission data, and said the 2nd CAN controller 50 detects the bit rate (step S23) of said the 2nd CAN bus 91 transmission data.The data of a said CAN controller 40 and 50 pairs of receptions of the 2nd CAN controller are resolved; And being repackaged into the packet (step S24) of the bit rate form of the 2nd CAN bus 91, the packet after the said processing is sent to the 2nd CAN bus 91 (step S25) via the second photoelectricity coupling circuit 60 and the 2nd CAN transceiver 70.So far, the adaptive gateway device is accomplished the transmission of data from a CAN bus 90 to the 2nd CAN buses 91.
Be appreciated that; If data are sent to a CAN bus 90 from the 2nd CAN bus 91; Then step S21 respective action replaces with said the 2nd CAN transceiver 70 and receives data from the 2nd CAN bus 91, and the warp second photoelectricity coupling circuit 60 is with said transfer of data to the two CAN controllers 50.The packet that step S25 respective action replaces with after the said processing is sent to a CAN bus 90 via the first photoelectricity coupling circuit 20 and a CAN transceiver 10.Other steps are all constant.
The needed information number of above-mentioned inspection bit rate depends on Several Factors, for example the load of initialization test bit rate and CAN bus.Therefore, in the software that the described adaptive gateway device of present embodiment is used, bit rate table of predefine is stored in data memory module 80.Register BTR0, BTR1 that this bit rate table has comprised the bit timing parameter of all possible bit rate and each bit rate correspondence are provided with numerical value.The bit timing parameter is provided with and mainly comprises baud rate preset value (BRP; Baud rate preset value), sampling configuration (SAM; Sampling mode), synchronous redirect width (SJW, synchronization jump width), bit timing section 1 (TSEG1) and bit timing section 2 (TSEG2).
Please further with reference to Fig. 3, be the workflow diagram of the CAN controller detecting position speed of preferred embodiment of the present invention.With a CAN controller 40 is that example describes.The one CAN controller 40 at first gets into reset mode (step S301); Then; MCU 30 calls said bit rate table from data memory module 80; According to said bit rate table highest order speed (step S302) is set, MCU 30 be provided with a CAN controller 40 enable receive to interrupt interrupting (step S303) with bus error, a CAN controller 40 gets into an only tin pattern (step S304).The one CAN controller 40 receives the data from a CAN bus 90, and deposit data in its inner reception buffer area, and is judged whether MCU 30 produces bus error interruption (step S305).If the result is for being; In a single day the one CAN controller 40 detects bus error and interrupts, and promptly gets into reset mode (step S306) once more, switches to next lower bit rate (step S307) again; Again get into and only listen pattern (step 308), return step S305.If the result judges then for not whether MCU 30 produces reception and interrupt (step S309), if, then to think to detect correct bit rate, release receives buffer area, and a CAN controller 40 gets into operator scheme (step 310); Do not interrupt if produce to receive, then return step S305.Then; In order to reach the purpose of confirming this correct bit rate; The one CAN controller 40 can reuse this correct bit rate and receive the data from a CAN bus 90, and judges whether MCU 30 produces reception and interrupt (step S311), if the result is for denying; Then continue to carry out the action of this step, judge whether MCU 30 produces reception and interrupt; , produce to receive and interrupt for being up to the result, then expression has detected correct bit rate (step 312).Afterwards, a CAN controller 40 just can get into step 24 shown in Figure 2 and flow, participates in the process of transfer of data.
In addition, the workflow of the detecting position speed shown in Fig. 3 is equally applicable to step S23, repeats no more here.Detailed process can be with reference to the description among above-mentioned steps S301 ~ S311, and the CAN controller 40 in only will describing replaces with the 2nd CAN controller 50, the one CAN buses 90 and replaces with the 2nd CAN bus 91 and get final product.
Be appreciated that; The method of adaptive gateway device of the present invention and transmission data thereof can realize automatically that bit rate detects; And automatically bit rate detects to be actually and requires gateway under the situation of unknown CAN bus bit rate; Can automatically detect the bit rate of CAN bus transfer data, also not influence all activities of other nodes on the bus simultaneously.The automatic detection of the speed of handling properly will guarantee that the CAN controller does not produce erroneous frame under the bit rate of mistake.Therefore the CAN controller that uses among the present invention is supported " only listening pattern ".
In sum, the core of adaptive gateway device of the present invention is two independent CAN controller, and this gateway apparatus can realize that automatic bit rate detects, and does not also influence all activities of other nodes on the bus simultaneously.This adaptive gateway device gateway applying flexible intelligence, the rate limit of not come source network and objective network can be applied to different CAN inter-network data forwarding capabilitys.Adaptive gateway device of the present invention also is applicable to being connected of CAN major network and CAN subnet, perhaps the interconnection between two parallel CAN networks.Because this adaptive gateway device has two independently CAN interfaces of electrical isolation; Realize data " transparent " forwarding of two-way CAN passage; Therefore; It will be understood by those skilled in the art that only to need on software, to change a little and just can use it as the CAN bus repeater, can improve the CAN communication distance so exponentially, increase the CAN interstitial content.
The above only is embodiments of the invention, is not the present invention is done any pro forma restriction; Though the present invention discloses as above with embodiment; Yet be not in order to limiting the present invention, anyly be familiar with the professional and technical personnel, in not breaking away from technical scheme scope of the present invention; When the technology contents of above-mentioned announcement capable of using is made a little change or is modified to the equivalent embodiment of equivalent variations; In every case be not break away from technical scheme content of the present invention, to any simple modification, equivalent variations and modification that above embodiment did, all still belong in the scope of technical scheme of the present invention according to technical spirit of the present invention.
Claims (10)
1. adaptive gateway device; Comprise a CAN transceiver (10), the first photoelectricity coupling circuit (20), microcontroller (30), a CAN controller (40), the second photoelectricity coupling circuit (60), the 2nd CAN transceiver (70) and data memory module (80); A said CAN transceiver (10) is electrically connected to a CAN controller (40) through the first photoelectricity coupling circuit (20); A said CAN controller (40) is electrically connected to microcontroller (30); Said data memory module (80) is connected with said microcontroller (30), and a said CAN transceiver (10) connects a CAN bus (90), and said the 2nd CAN transceiver (70) connects the 2nd CAN bus (91); It is characterized in that this adaptive gateway device also comprises:
The 2nd CAN controller (50) is connected to microcontroller (30), and said the 2nd CAN transceiver (70) is electrically connected to said the 2nd CAN controller (50) through the second photoelectricity coupling circuit (60);
Wherein, The bit rate of the one CAN bus (90) and the 2nd CAN bus (91) transmission data is unknown; In the transmission data procedures, a said CAN controller (40) and the 2nd CAN controller (50) detect the bit rate of a said CAN bus (90) and the 2nd CAN bus (91) transmission data respectively.
2. adaptive gateway device according to claim 1; It is characterized in that; Said microcontroller (30) is realized the initialization setting of a CAN controller (40) and the 2nd CAN controller (50), and realizes the reception and the transmission of data through said CAN controller (40) of control and the 2nd CAN controller (50).
3. adaptive gateway device according to claim 2; It is characterized in that; Register BTR0, BTR1 that bit rate table of predefine in the software that said adaptive gateway device is used, this table have comprised the bit timing parameter of all possible bit rate and each bit rate correspondence are provided with numerical value.
4. adaptive gateway device according to claim 3 is characterized in that, said bit timing parameter mainly comprises baud rate preset value, sampling configuration, synchronous redirect width, bit timing section 1 and bit timing section 2.
5. adaptive gateway device according to claim 1; It is characterized in that; A said CAN controller (40) and the 2nd CAN controller (50) all support only to listen pattern; Under this pattern, a CAN controller (40) and the 2nd CAN controller (50) do not produce erroneous frame, an accessible information.
6. adaptive gateway device according to claim 1; It is characterized in that the interface between a said CAN controller (40) and the 2nd CAN controller (50) and the physical bus adopts twisted-pair feeder, coaxial cable or the optical fiber CAN EBI as transmission medium.
7. the method for adaptive gateway device transmission data; This adaptive gateway device comprises a CAN transceiver (10), the first photoelectricity coupling circuit (20), microcontroller (30), a CAN controller (40), the 2nd CAN controller (50), the second photoelectricity coupling circuit (60), the 2nd CAN transceiver (70) and data memory module (80), said method comprising the steps of:
The one CAN transceiver (10) receives data from a CAN bus (90), and the warp first photoelectricity coupling circuit (20) is with said transfer of data to a CAN controller (40);
A said CAN controller (40) detects the bit rate of a said CAN bus (90) transmission data;
Said the 2nd CAN controller (50) detects the bit rate of said the 2nd CAN bus (91) transmission data;
A said CAN controller (40) and the 2nd CAN controller (50) are resolved the data that receive, and are repackaged into the packet of the bit rate form on the 2nd CAN bus (91); And
Packet after the said processing is sent to the 2nd CAN bus (91) via the second photoelectricity coupling circuit (60) and the 2nd CAN transceiver (70).
8. the method for adaptive gateway device transmission data according to claim 7; It is characterized in that the step that the bit rate of a said CAN bus (90) transmission of a said CAN controller (40) detection data and said the 2nd CAN controller (50) detect the bit rate of said the 2nd CAN bus (91) transmission data includes:
Get into reset mode;
Highest order speed is set;
Setting enables to receive to be interrupted and the bus error interruption;
Get into and only listen pattern;
Receive data and judge whether to produce bus error and interrupt;
If judge that producing bus error interrupts, and gets into reset mode once more;
Switch to next lower bit rate;
Get into and only listen pattern, and return said reception data and judge whether to produce the step that bus error interrupts;
If judge that not producing bus error interrupts, then judge whether to produce to receive to interrupt;
If judging to produce to receive interrupts, then think to detect correct bit rate, get into operator scheme; And
If judging not produce to receive interrupts, then return said reception data and judge whether to produce the step that bus error interrupts.
9. the method for adaptive gateway device transmission data according to claim 8 if judging to produce to receive interrupts, is then thought to detect correct bit rate, gets into after the step of operator scheme, further has the step of confirming said correct bit rate to comprise:
Use this correct bit rate to receive data; And
Judge whether to produce to receive and interrupt.
10. the method for adaptive gateway device transmission data according to claim 8; It is characterized in that; Bit rate table of predefine in the software that said adaptive gateway device is used; Register BTR0, BTR1 that this table has comprised the bit timing parameter of all possible bit rate and each bit rate correspondence are provided with numerical value, according to said bit rate table highest order speed are set.
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Effective date of registration: 20190404 Address after: 317000 east gate of Taizhou City, Zhejiang Province Co-patentee after: Zhejiang Geely Holding Group Co., Ltd. Patentee after: Zhejiang Geely Automobile Research Institute Co., Ltd. Address before: 311228 No. 206 Farmer's Second House in Linjiang Industrial Park, Xiaoshan District, Hangzhou City, Zhejiang Province Co-patentee before: Zhejiang Geely Automobile Research Institute Co., Ltd. Patentee before: Hangzhou Branch, Zhejiang Geely Automobile Research Institute Co., Ltd. Co-patentee before: Zhejiang Geely Holding Group Co., Ltd. |