CN102984096A - Assembling method for controller area network (CAN) data frames applied in ship dynamic information acquisition device - Google Patents

Assembling method for controller area network (CAN) data frames applied in ship dynamic information acquisition device Download PDF

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Publication number
CN102984096A
CN102984096A CN2012103880589A CN201210388058A CN102984096A CN 102984096 A CN102984096 A CN 102984096A CN 2012103880589 A CN2012103880589 A CN 2012103880589A CN 201210388058 A CN201210388058 A CN 201210388058A CN 102984096 A CN102984096 A CN 102984096A
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data
frame
collection plate
power information
information collecting
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CN102984096B (en
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徐斌
张晓辉
丁玮
熊卿
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719th Research Institute of CSIC
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719th Research Institute of CSIC
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Abstract

The invention discloses an assembling method for controller area network (CAN) data frames applied in a ship dynamic information acquisition device, and relates to the field of CAN buses of the ship dynamic information acquisition. The assembling method comprises the following steps: setting a unique identity (ID) for each equipment chassis and each acquisition board inside each equipment chassis, setting numbers for a channel of each acquisition board in order, wherein each route of data of multiple routes of the data sent by each acquisition board corresponds to a channel number, and packaging the numbers of the equipment chassis ID, the acquisition board ID inside the equipment chassis, and the acquisition board channel in the CAN data frames. The assembling method for the CAN data frames applied in the ship dynamic information acquisition device realizes confirmation of identifiers in the CAN data frames and distribution of data bytes, and is capable of satisfying requirements of CAN communication of the ship dynamic information acquisition device.

Description

Be applied to the assemble method of the CAN Frame of ship power information collecting device
Technical field
The present invention relates to the CAN bus field of ship power information gathering, particularly relate to a kind of assemble method that is applied to the CAN Frame of ship power information collecting device.
Background technology
CAN(Controller Area Network, controller local area network) be a kind of maturation, serial communication network reliable, that also be used widely in the world.The CAN protocol specification is the standard that all CAN bus network are observed jointly, but its agreement of the most basic bottom just, and the user must the designed, designed application layer protocol.Several companies are arranged at present, and such as CANopen, DeviceNet etc. developed the CAN application layer protocol of versatility, selects for the user, but the application layer protocol more complicated of this versatility, and is not suitable for the professional domain such as ship power information gathering.
Summary of the invention
The objective of the invention is in order to overcome the deficiency of above-mentioned background technology, a kind of assemble method that is applied to the CAN Frame of ship power information collecting device is provided, realize the really distribution of fixed sum data byte of identifier in the CAN Frame, can satisfy the CAN communicating requirement of ship power information collecting device.
The invention provides a kind of assemble method that is applied to the CAN Frame of ship power information collecting device, described ship power information collecting device comprises: 1 ~ 64 equipment cabinets, shielding case with electric connector, be positioned at the data collection host and the backboard that is positioned at data collection host of shielding case, data collection host comprises at least 3 couples of each other CAN bus module (A of redundancy, A ', B, B ', C, C '), 1 network exchange module, 1 pair of redundant switch management module each other, 1 pair of redundant data processing module each other, 1 pair of redundant power module each other, the light isolation module, every a pair of each other CAN bus module of redundancy provides 4 CAN passages; Each equipment cabinets comprises 1 ~ 16 collection plate, and each collection plate provides 1 ~ 16 transmission channel, and each collection plate is provided with 1 pair of each other CAN interface of redundancy, and corresponding data gathers 2 CAN passages of every pair of CAN bus module on the main frame respectively; Each data processing module is provided with 1 pair of each other CAN interface of redundancy; All modules in the data collection host all link to each other with backboard, and backboard links to each other with electric connector on the shielding case, and the electric connector on the shielding case is connected with display terminal with equipment cabinets, the 220V power supply of data collection host outside respectively; Data collection host connects each equipment cabinets by electric connector, data by collection plate in the CAN bus module collecting device cabinet, and manage each functional module by switch management module, by data processing module bag and logical process are collected, organized to data, adopt the Ethernet mode that the data after the data collection host acquisition process are mail to display terminal by network exchange module;
Be applied to the assemble method of the CAN Frame of described ship power information collecting device, may further comprise the steps: to the collection plate in each equipment cabinets, the equipment cabinets unique ID is set, the passage of each collection plate is arranged numbering in order, the corresponding channel number of every circuit-switched data in the multichannel data that each collection plate sends all is encapsulated into the collection plate ID in equipment cabinets ID, the equipment cabinets, collection plate channel number in the CAN Frame.
In technique scheme, described CAN Frame comprises 7 parts: frame begins, arbitrates territory, control domain, data field, CRC territory, Acknowledge and End of Frame, described arbitration comprises the CAN identifier in the territory, adopt the CAN2.0 standard frame format to express the CAN identifier of arbitrating in the territory, be defined as ID10 ~ ID0, totally 11, comprise frame type, equipment cabinets ID and collection plate id information.
In technique scheme, the content of described CAN identifier is: ID10 represents frame type, ID10=0, expression normal frames; ID10=1, the expression broadcast frame; ID9 ~ ID4 indication equipment cabinet ID, totally 6; Collection plate ID in ID3 ~ ID0 indication equipment cabinet, totally 4.
In technique scheme, the data field of described CAN Frame adopts 8 bytes to express 64 bit data, comprises 2 circuit-switched data information, and every circuit-switched data information has 4 bytes, comprises the unsigned int data value of data ID and 2 bytes of 2 bytes.
In technique scheme, described data ID comprises collection plate ID, the collection plate channel number in frame type, equipment cabinets ID, the equipment cabinets.
In technique scheme, a circuit-switched data information is by D in the data field of described CAN Frame 31~ D 0Expression, wherein, D 31~ D 16Be data ID, D 31The position keeps, and fills D with 0 30Be frame type, D 29~ D 24Be equipment cabinets ID, D 23~ D 20Be the collection plate ID in the equipment cabinets, D 19~ D 16Be the collection plate channel number; D 15~ D 0Be data value; D 30~ D 2011 CAN identifiers in these 11 arbitration territories with described CAN Frame are identical, if not identical, show that then the CAN Frame is wrong.
In technique scheme, described unsigned int data value is analog quantity or switching value.
In technique scheme, when described unsigned int data value was analog quantity, value was 0 ~ 20000 in the ship power information collecting device, expression 0 ~ 20mA electric current.
In technique scheme, when described unsigned int data value was switching value, each represented a switching value, and 1 for opening, and 0 for closing expression 16 bit switches in the ship power information collecting device.
In technique scheme, described collection plate is current acquisition plate, electrical resistance collection plate or switch acquisition plate.
Compared with prior art, advantage of the present invention is as follows:
The present invention has designed a kind of simple, reliable CAN application layer protocol on CAN protocol specification basis, realized the really distribution of fixed sum data byte of identifier in the CAN Frame, can satisfy the CAN communicating requirement of ship power information collecting device.
Description of drawings
Fig. 1 is the structural representation of ship power information collecting device in the embodiment of the invention.
Fig. 2 is the formation schematic diagram of CAN Frame and 11 CAN identifiers in the embodiment of the invention.
Fig. 3 is the structural representation of the data field of CAN Frame in the embodiment of the invention.
Embodiment
The present invention is described in further detail below in conjunction with drawings and the specific embodiments.
Referring to shown in Figure 1, the ship power information collecting device comprises: 1 ~ 64 equipment cabinets, shielding case with electric connector, be positioned at the data collection host and the backboard that is positioned at data collection host of shielding case, data collection host comprises at least 3 couples of each other CAN(Controller Area Network of redundancy, controller local area network) bus module (A, A ', B, B ', C, C '), 1 network exchange module, 1 pair of redundant switch management module each other, 1 pair of redundant data processing module each other, 1 pair of redundant power module each other, the light isolation module, every a pair of each other CAN bus module of redundancy provides 4 CAN passages.Each equipment cabinets comprises 1 ~ 16 collection plate, and each collection plate provides 1 ~ 16 transmission channel, and collection plate is current acquisition plate, electrical resistance collection plate or switch acquisition plate.Each collection plate is provided with 1 pair of each other CAN interface of redundancy, can both independently send the data of this complete collection plate, and corresponding data gathers 2 CAN passages of every pair of CAN bus module on the main frame respectively.Each data processing module is provided with 1 pair of each other CAN interface of redundancy.All modules in the data collection host all link to each other with backboard, and backboard links to each other with electric connector on the shielding case, and the electric connector on the shielding case is connected with display terminal with equipment cabinets, the 220V power supply of data collection host outside respectively.
Data collection host connects each equipment cabinets by electric connector, data by collection plate in the CAN bus module collecting device cabinet, and manage each functional module by switch management module, by data processing module bag and logical process are collected, organized to data, adopt the Ethernet mode that the data after the data collection host acquisition process are mail to display terminal by network exchange module.
Referring to shown in Figure 1, the data that each collection plate CAN interface 1 sends in the equipment cabinets 1 ~ 6 are together in parallel, and are connected to a pair of CAN bus module A in the CAN bus module of three pairs of redundancies of data collection host and the CAN passage 1 of A '; Same, the data that each collection plate CAN interface 2 sends in the equipment cabinets 1 ~ 6 are together in parallel, and are connected to the CAN passage 2 of CAN bus module A and A '.The computing platform of data collection host adopts the very much higher level of reliability parallel processing platform, adopts highly reliable operating system and satisfies the middleware of high reliability at this hardware platform.Data collection host adopts Distributed C AN structure, and use full redundancy mode, all CAN bus modules have all been disposed CAN bus module software, during receive data, one of them CAN bus module receive data, another CAN bus module shielding, need only a normal operation in two passages, CAN bus module A and A ' can both be complete the data that receive equipment cabinets 1, when one of them CAN bus module breaks down, automatically switch to immediately another CAN bus module, guarantee not obliterated data, data acquisition unit still can work.
2 data processing modules in the data collection host have all been disposed data processing module software, and are redundant each other, are used for the data that the CAN bus module sends are carried out logical process and packing operation.Each data processing module is provided with 1 pair of each other CAN interface of redundancy, output information that can both be complete.By the redundant fashion deal with data, guarantee in the situation that a data processing module breaks down, to switch to immediately another data processing module, still can normally finish the data collection process function.2 switch management module have all been disposed switch management module software, and are redundant each other, are used for finishing the management function of each redundancy feature module.Because System Management Bus also is redundant mode, guarantees that like this management information is normal delivery still in the situation that a bus breaks down.In 2 power modules any one can the complete independently function of supplying power, and external 220V alternating voltage is converted into the required voltage of each functional module, guarantees that power supply safety is reliable.
On the basis of above-mentioned ship power information collecting device, the embodiment of the invention provides a kind of assemble method that is applied to the CAN Frame of ship power information collecting device, may further comprise the steps: to the collection plate in each equipment cabinets, the equipment cabinets unique ID is set, the passage of each collection plate is arranged numbering in order, each collection plate once can send multichannel data, the corresponding channel number of every circuit-switched data wherein all is encapsulated into the collection plate ID in equipment cabinets ID, the equipment cabinets, collection plate channel number in the CAN Frame.
Referring to shown in Figure 2, the CAN Frame of standard comprises 7 parts: frame begins, arbitrates territory, control domain, data field, CRC(Cyclic Redundancy Check, cyclic redundancy check (CRC)) territory, Acknowledge and End of Frame, arbitration comprises the CAN identifier in the territory, adopt the CAN2.0 standard frame format to express the CAN identifier of arbitrating in the territory, be defined as ID10 ~ ID0, totally 11, comprise frame type, equipment cabinets ID and collection plate id information, the particular content of 11 CAN identifiers is: ID10 represents frame type, generally speaking, ID10=0, expression normal frames; In emergency circumstances, ID10=1, expression broadcast frame; ID9 ~ ID4 indication equipment cabinet ID, can represent (00 ~ 3f) by totally 6 16Totally 64 cabinets, wherein (00 ~ 0a) 16Reservation is used to data collection host, and equipment cabinets is followed successively by 0b from the 0b open numbering, 0c, 0d ... 3f; Collection plate ID in ID3 ~ ID0 indication equipment cabinet, can represent (00 ~ f) by totally 4 16Totally 16 blocks of plates.Therefore, the CAN ID scope that represents with above 11 bit identifiers is (0a0 ~ ff) 16
The data field of CAN Frame adopts 8 bytes to express 64 bit data, comprise 2 circuit-switched data information, every circuit-switched data information has 4 bytes, the unsigned int data value that comprises data ID and 2 bytes of 2 bytes, data ID comprise collection plate ID, the collection plate channel number in frame type, equipment cabinets ID, the equipment cabinets.
Referring to shown in Figure 3, a circuit-switched data information is by D in the data field of CAN Frame 31~ D 0Expression, wherein, D 31~ D 16Be data ID, wherein D 31The position keeps, and fills D with 0 30Be frame type, D 29~ D 24Be equipment cabinets ID, D 23~ D 20Be the collection plate ID in the equipment cabinets, D 19~ D 16Be the collection plate channel number, can represent 16 passages.D 30~ D 2011 CAN identifiers in these 11 arbitration territories with the CAN Frame are identical, if not identical, show that then the CAN Frame is wrong, therefore can play error detection mechanism.
D 15~ D 0Be data value, formed by the unsigned int data of 2 bytes that can be analog quantity or switching value, when it was analog quantity, value was 0 ~ 20000 in the ship power information collecting device, expression 0 ~ 20mA electric current; When it was switching value, each represented a switching value, and 1 for opening, and 0 for closing, and can represent 16 bit switches in the ship power information collecting device.
Therefore, the CAN application layer protocol of the embodiment of the invention has fully satisfied the particular demands of data acquisition unit, the information such as collection plate in equipment cabinets and the equipment cabinets are placed respectively the data byte of CAN identifier and transmission, all can obtain information such as collection plate equipment cabinets and the equipment cabinets from 11 standard CAN ID and data byte part, data byte and CAN ID also have error detection function.
Obviously, those skilled in the art can carry out various changes and modification to the present invention and not break away from the spirit and scope of the present invention, if of the present invention these are revised and modification belongs within the scope of claim of the present invention and equivalent technologies thereof, then the present invention comprises these changes and modification interior.The content that is not described in detail in this specification belongs to the known prior art of this area professional and technical personnel.

Claims (10)

1. assemble method that is applied to the CAN Frame of ship power information collecting device is characterized in that:
Described ship power information collecting device comprises: 1 ~ 64 equipment cabinets, with the shielding case of electric connector, be positioned at the data collection host of shielding case and be positioned at the backboard of data collection host, data collection host comprises at least 3 pairs of each other redundant CAN bus module (A, A ', B, B ', C, C '), 1 network exchange module, 1 pair redundant switch management module, 1 pair redundant data processing module, 1 pair redundant power module, light isolation modules each other each other each other, and every a pair of each other redundant CAN bus module provides 4 CAN passages; Each equipment cabinets comprises 1 ~ 16 collection plate, and each collection plate provides 1 ~ 16 transmission channel, and each collection plate is provided with 1 pair of each other CAN interface of redundancy, and corresponding data gathers 2 CAN passages of every pair of CAN bus module on the main frame respectively; Each data processing module is provided with 1 pair of each other CAN interface of redundancy; All modules in the data collection host all link to each other with backboard, and backboard links to each other with electric connector on the shielding case, and the electric connector on the shielding case is connected with display terminal with equipment cabinets, the 220V power supply of data collection host outside respectively; Data collection host connects each equipment cabinets by electric connector, data by collection plate in the CAN bus module collecting device cabinet, and manage each functional module by switch management module, by data processing module bag and logical process are collected, organized to data, adopt the Ethernet mode that the data after the data collection host acquisition process are mail to display terminal by network exchange module;
Be applied to the assemble method of the CAN Frame of described ship power information collecting device, may further comprise the steps: to the collection plate in each equipment cabinets, the equipment cabinets unique ID is set, the passage of each collection plate is arranged numbering in order, the corresponding channel number of every circuit-switched data in the multichannel data that each collection plate sends all is encapsulated into the collection plate ID in equipment cabinets ID, the equipment cabinets, collection plate channel number in the CAN Frame.
2. the assemble method that is applied to the CAN Frame of ship power information collecting device as claimed in claim 1, it is characterized in that: described CAN Frame comprises 7 parts: frame begins, arbitrates territory, control domain, data field, CRC territory, Acknowledge and End of Frame, described arbitration comprises the CAN identifier in the territory, adopt the CAN2.0 standard frame format to express the CAN identifier of arbitrating in the territory, be defined as ID10 ~ ID0, totally 11, comprise frame type, equipment cabinets ID and collection plate id information.
3. the assemble method that is applied to the CAN Frame of ship power information collecting device as claimed in claim 2, it is characterized in that: the content of described CAN identifier is: ID10 represents frame type, ID10=0, expression normal frames; ID10=1, the expression broadcast frame; ID9 ~ ID4 indication equipment cabinet ID, totally 6; Collection plate ID in ID3 ~ ID0 indication equipment cabinet, totally 4.
4. the assemble method that is applied to the CAN Frame of ship power information collecting device as claimed in claim 2, it is characterized in that: the data field of described CAN Frame adopts 8 bytes to express 64 bit data, comprise 2 circuit-switched data information, every circuit-switched data information has 4 bytes, comprises the unsigned int data value of data ID and 2 bytes of 2 bytes.
5. the assemble method that is applied to the CAN Frame of ship power information collecting device as claimed in claim 4, it is characterized in that: described data ID comprises collection plate ID, the collection plate channel number in frame type, equipment cabinets ID, the equipment cabinets.
6. the assemble method that is applied to the CAN Frame of ship power information collecting device as claimed in claim 5, it is characterized in that: a circuit-switched data information is by D in the data field of described CAN Frame 31~ D 0Expression, wherein, D 31~ D 16Be data ID, D 31The position keeps, and fills D with 0 30Be frame type, D 29~ D 24Be equipment cabinets ID, D 23~ D 20Be the collection plate ID in the equipment cabinets, D 19~ D 16Be the collection plate channel number; D 15~ D 0Be data value; D 30~ D 2011 CAN identifiers in these 11 arbitration territories with described CAN Frame are identical, if not identical, show that then the CAN Frame is wrong.
7. the assemble method that is applied to the CAN Frame of ship power information collecting device as claimed in claim 4, it is characterized in that: described unsigned int data value is analog quantity or switching value.
8. the assemble method that is applied to the CAN Frame of ship power information collecting device as claimed in claim 7, it is characterized in that: when described unsigned int data value is analog quantity, value is 0 ~ 20000 in the ship power information collecting device, expression 0 ~ 20mA electric current.
9. the assemble method that is applied to the CAN Frame of ship power information collecting device as claimed in claim 7, it is characterized in that: when described unsigned int data value is switching value, each represents a switching value, 1 for opening, 0 for closing expression 16 bit switches in the ship power information collecting device.
10. such as each described assemble method that is applied to the CAN Frame of ship power information collecting device in the claim 1 to 9, it is characterized in that: described collection plate is current acquisition plate, electrical resistance collection plate or switch acquisition plate.
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CN110275654A (en) * 2019-06-11 2019-09-24 中国船舶重工集团公司第七一九研究所 Soft operation control method and equipment
CN110955172A (en) * 2019-10-30 2020-04-03 中国船舶重工集团公司第七一九研究所 Electric isolation type 0-20 mA driving circuit with output self-detection function
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CN106875664A (en) * 2017-04-18 2017-06-20 连云港杰瑞深软科技有限公司 A kind of exclusive formula collecting method based on CAN
CN110275654A (en) * 2019-06-11 2019-09-24 中国船舶重工集团公司第七一九研究所 Soft operation control method and equipment
CN110224913A (en) * 2019-07-15 2019-09-10 珠海格力电器股份有限公司 Data transmission method, device, data transmission system and equipment
CN110955172A (en) * 2019-10-30 2020-04-03 中国船舶重工集团公司第七一九研究所 Electric isolation type 0-20 mA driving circuit with output self-detection function

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