CN103139060B - Based on the high fault tolerance CAN digital gateway of two CSTR - Google Patents
Based on the high fault tolerance CAN digital gateway of two CSTR Download PDFInfo
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Abstract
Based on the high fault tolerance CAN digital gateway of two CSTR, belong to CAN gateway technique field.The present invention is to solve existing CAN gateway when list node overall failure, causing communication disruption, causes the problem that admission control or large time delay situation occur.It comprises host node, from node, two-way redundancy CAN network A, two-way redundancy CAN network B, nonredundancy sub-network bus #E1 and nonredundancy sub-network bus #E2, two-way redundancy CAN network A comprises network-bus #A1 and network-bus #A2; Two-way redundancy CAN network B comprises network-bus #B1 and network-bus #B2; Protocol conversion between the CAN backbone network it providing dual link redundancy, between CAN backbone network and the nonredundant CAN subnet of single-link and data cache and forwarding.The present invention is as CAN digital gateway.
Description
Technical field
The present invention relates to the high fault tolerance CAN digital gateway based on two CSTR, belong to CAN gateway technique field.
Background technology
CAN technology is widely used in industrial automation, and it has the simple and excellent properties such as low cost of highly reliable, anti-interference, structure.Along with reaching its maturity of technical elements, CAN just progressively moves towards the safety-critical field SCS such as space flight, aviation, the energy and health care, and development prospect is very wide.
But, Safety-Critical System not only relate to a large amount of electric room complexity cascade and interoperability frequently, networking is larger, transmission performance requires higher, and once generation systems disabler, to cause the heavy losses of life and property, therefore the reliability of system is often placed on the most primary position by design or network operator.Form the network local area network (LAN) that just structure is single of Safety-Critical System, but multiple regions subnet is interconnected and multiple network topology, agreement be used for realizing isolated fault, balanced bandwidth and simplified wiring; And the CAN adopted with redundancy scheme in system backbone network, with the certainty of the reliability of strengthening system and transmission of messages more.
Therefore, whether CAN gateway gateway, as the infrastructure realizing complex network, effectively can support this kind of Safety-Critical System networking, and meet the constraint of its design aspect, and especially the requirement of reliability aspect becomes very important.Existing CAN gateway designs has the defect of following two aspects:
1. existing CAN gateway many employings local redundancy structure, namely only to the backup of the link of CAN, transceiver and controller hardware.Although the single failure can tackled during transmission medium damages, port loosens, bus driver lost efficacy or combined fault, then helpless to the global failure of the cpu fault of gateway, power module failure and even Control card.
2. existing CAN gateway is in communication mechanism and unrealized hot redundancy really, is only real-time listening from backup node or port.Once host node or port break down, still need to carry out master and slave internodal function to switch, thus introduce certain self-healing time, i.e. switching time, so easily cause the situation such as admission control or large time delay to occur, this requires that higher system can not put up with for reliability and certainty.
Summary of the invention
The present invention seeks to, in order to solve existing CAN gateway when list node overall failure, can cause communication disruption, the problem causing admission control or large time delay situation to occur, provides a kind of high fault tolerance CAN digital gateway based on two CSTR.
High fault tolerance CAN digital gateway based on two CSTR of the present invention, it comprises host node, from node, two-way redundancy CAN network A, two-way redundancy CAN network B, nonredundancy sub-network bus #E1 and nonredundancy sub-network bus #E2,
Two-way redundancy CAN network A comprises network-bus #A1 and network-bus #A2;
Two-way redundancy CAN network B comprises network-bus #B1 and network-bus #B2;
Host node comprises DSP#A1, DSP#A2, CAN port #A11, CAN port #A12, CAN port #A21 and CAN port #A22;
DSP#B1, DSP#B2, CAN port #B11, CAN port #B12, CAN port #B21 and CAN port #B22 is comprised from node;
By SPI data channel transmission data between DSP#A1 and DSP#A2, DSP#A1 is connected with network-bus #A1 by CAN port #A11, DSP#A1 is connected with nonredundancy sub-network bus #E1 by CAN port #A12, DSP#A2 is connected with network-bus #B2 by CAN port #A21, and DSP#A2 is connected with nonredundancy sub-network bus #E2 by CAN port #A22;
By SPI data channel transmission data between DSP#B1 and DSP#B2, DSP#B1 is connected with network-bus #B1 by CAN port #B11, DSP#B1 is connected with nonredundancy sub-network bus #E2 by CAN port #B12, DSP#B2 is connected with network-bus #A2 by CAN port #B21, and DSP#B2 is connected with nonredundancy sub-network bus #E1 by CAN port #B22;
The DSP#A1 (1-1) of host node (1) and between the DSP#B1 (2-1) and DSP#B2 (2-2) of node (2), the DSP#A2 (1-2) of host node (1) and transmit data by SPI data channel between the DSP#B1 (2-1) and DSP#B2 (2-2) of node (2).
Host node also comprises CAN driver #A11, CAN driver #A12, CAN driver #A21 and CAN driver #A22,
CAN driver #A11 is arranged between DSP#A1 and CAN port #A11, CAN driver #A12 is arranged between DSP#A1 and CAN port #A12, CAN driver #A21 is arranged between DSP#A2 and CAN port #A21, and CAN driver #A22 is arranged between DSP#A2 and CAN port #A22;
CAN driver #B11, CAN driver #B12, CAN driver #B21 and CAN driver #B22 is also comprised from node,
CAN driver #B11 is arranged between DSP#B1 and CAN port #B11, CAN driver #B12 is arranged between DSP#B1 and CAN port #B12, CAN driver #B21 is arranged between DSP#B2 and CAN port #B21, and CAN driver #B22 is arranged between DSP#B2 and CAN port #B22.
Host node also comprises main storage #A1 and main storage #A2,
Be connected by external expansion interface between main storage #A1 and DSP#A1, be connected by external expansion interface between main storage #A2 and DSP#A2;
Also comprise from memory #B1 with from memory #B2 from node,
Be connected by external expansion interface between memory #B1 and DSP#B1, be connected by external expansion interface between memory #B2 and DSP#B2.
It also comprises liquid crystal display and operator,
Liquid crystal display and operator, as man-machine interface, are connected with DSP#A1, DSP#A2, DSP#B1 and DSP#B2 respectively.
It also comprises power supply, and power supply is used for providing working power for DSP#A1, DSP#A2, DSP#B1 and DSP#B2.
Advantage of the present invention: digital gateway of the present invention has high fault tolerance, it can realize the hot redundancy of total system bimodulus comprising link port, bus transceiver, bus control unit, gateway CPU and power module etc., under the condition that list node local or the entirety of intra-gateway break down, still can ensure that communication is not interrupted, and without the self-healing time, be conducive to the fault tolerance and the reliability that improve network interconnection comprehensively.
The present invention possesses very strong compatibility and versatility, protocol conversion between the CAN backbone network providing dual link redundancy, between CAN backbone network and the nonredundant CAN subnet of single-link and data cache and forwarding, inter-net communication time delay can be reduced significantly, be adapted at actual industrial field and popularize.
The present invention has the network bridging passage of the complete hot redundancy of two-way, when single channel fault, still can ensure that the real-time connection of two nets is not interrupted, have high reliability.It has employed inside and is integrated with the dsp chip enriching control module and high-performance CPU, thus strengthens the process of data and the speed of CAN transmitting-receiving control, considerably reduces the technology time delay of gateway.The present invention's application SPI interface substitutes two-port RAM and to realize between two CSTR exchanges data at a high speed, simplified wiring, reduces costs and decreases the impact that in plate, electromagnetic interference is brought high-speed data communication, improves the reliability of system.
The present invention has stronger fault diagnosis functions, and host node, the mutual inspection passing through periodicity or time triggered from node and self-inspection can find fault in time and report to the police to host computer, are conducive to reliability service and the repair and replacement of system.Be equipped with liquid crystal display and operator, gateway is used simple to operation, running status can be monitored acquisition in real time by user.Compared with other existing product: do not have on the market at present similar can be applied to the industrial circle technical products very high to reliability requirement.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of the high fault tolerance CAN digital gateway based on two CSTR of the present invention;
Fig. 2 is host node and the internal structure block diagram from node;
Fig. 3 is two-way redundancy CAN network A and the two-way redundancy CAN network B annexation figure by the mutual bridge joint of CAN gateway;
Fig. 4 is the annexation figure by the mutual bridge joint of CAN gateway between nonredundancy sub-network bus #E1 and nonredundancy sub-network bus #E2;
Fig. 5 is for the bridge joint between nonredundancy sub-network bus #E1 and nonredundancy sub-network bus #E2, the workflow diagram of host node;
Fig. 6 is for the bridge joint between nonredundancy sub-network bus #E1 and nonredundancy sub-network bus #E2, from the workflow diagram of node;
Fig. 7 is the data forwarding channel schematic diagram of redundant network and nonredundant network;
Fig. 8 is the air environment networking schematic diagram that the present invention is applied to small commercial secondary-line-aircraft.
Embodiment
Embodiment one: present embodiment is described below in conjunction with Fig. 1, based on the high fault tolerance CAN digital gateway of two CSTR described in present embodiment, it comprises host node 1, from node 2, two-way redundancy CAN network A 3, two-way redundancy CAN network B 4, nonredundancy sub-network bus #E15 and nonredundancy sub-network bus #E26
Two-way redundancy CAN network A 3 comprises network-bus #A1 and network-bus #A2;
Two-way redundancy CAN network B 4 comprises network-bus #B1 and network-bus #B2;
Host node 1 comprises DSP#A11-1, DSP#A21-2, CAN port #A111-3, CAN port #A121-4, CAN port #A211-5 and CAN port #A221-6;
DSP#B12-1, DSP#B22-2, CAN port #B112-3, CAN port #B122-4, CAN port #B212-5 and CAN port #B222-6 is comprised from node 2;
By SPI data channel transmission data between DSP#A11-1 and DSP#A21-2, DSP#A11-1 is connected with network-bus #A1 by CAN port #A111-3, DSP#A11-1 is connected with nonredundancy sub-network bus #E15 by CAN port #A121-4, DSP#A21-2 is connected with network-bus #B2 by CAN port #A211-5, and DSP#A21-2 is connected with nonredundancy sub-network bus #E26 by CAN port #A221-6;
By SPI data channel transmission data between DSP#B12-1 and DSP#B22-2, DSP#B12-1 is connected with network-bus #B1 by CAN port #B112-3, DSP#B12-1 is connected with nonredundancy sub-network bus #E26 by CAN port #B122-4, DSP#B22-2 is connected with network-bus #A2 by CAN port #B212-5, and DSP#B22-2 is connected with nonredundancy sub-network bus #E15 by CAN port #B222-6;
DSP#A11-1 and DSP#A21-2 of host node 1 and transmit data by SPI data channel between DSP#B12-1 and DSP#B22-2 of node 2.
Shown in Fig. 1, digital gateway is inner primarily of identical two separate child node compositions, be called gateway host node 1 and from node 2.Host node 1 and physically completely isolated from node 2, work on power simultaneously, respectively have cooperation and the division of labor for different tasks, being connected with nonredundancy sub-network bus #E26 loose coupling by means of only nonredundancy sub-network bus #E15 each other, is functionally the relation of Hot Spare each other.
8 independently CAN ports are provided in present embodiment, i.e. CAN port #A111-3, CAN port #A121-4, CAN port #A211-5, CAN port #A221-6, CAN port #B112-3, CAN port #B122-4, CAN port #B212-5 and CAN port #B222-6, can realize between two-way redundancy CAN network A 3 and two-way redundancy CAN network B 4, two-way redundancy CAN network A 3 and two-way redundancy CAN network B 4 and the internet bridge joint between nonredundancy sub-network bus #E15 and nonredundancy sub-network bus #E26, at host node or from the local of node or global failure, still can to demote use, guarantee that internetwork interruption is communicated with.
Embodiment two: present embodiment is described below in conjunction with Fig. 1 and Fig. 2, present embodiment is described further execution mode one, host node 1 described in present embodiment also comprises CAN driver #A111-7, CAN driver #A121-8, CAN driver #A211-9 and CAN driver #A221-10
CAN driver #A111-7 is arranged between DSP#A11-1 and CAN port #A111-3, CAN driver #A121-8 is arranged between DSP#A11-1 and CAN port #A121-4, CAN driver #A211-9 is arranged between DSP#A21-2 and CAN port #A211-5, and CAN driver #A221-10 is arranged between DSP#A21-2 and CAN port #A221-6;
CAN driver #B112-7, CAN driver #B122-8, CAN driver #B212-9 and CAN driver #B222-10 is also comprised from node 2,
CAN driver #B112-7 is arranged between DSP#B12-1 and CAN port #B112-3, CAN driver #B122-8 is arranged between DSP#B12-1 and CAN port #B122-4, CAN driver #B212-9 is arranged between DSP#B22-2 and CAN port #B212-5, and CAN driver #B222-10 is arranged between DSP#B22-2 and CAN port #B222-6.
In present embodiment, dsp chip is as gateway child node nucleus module, inside is integrated with CPU and CAN control module, its fast operation, reliability are high, not only be in charge of the buffer memory of the transmitting-receiving control of the CAN of data, rate-matched, address remapped and data, and each other by SPI, CAN#E1 and CAN#E2 tri-kinds of data channel, based on certain information de-redundancy, information redundancy, data shaping, scheduling controlling scheduling algorithm, according to the actual requirements, the protocol conversion between heterogeneous networks and data retransmission is realized.
Embodiment three: present embodiment is described below in conjunction with Fig. 2, present embodiment is described further execution mode two, and host node 1 described in present embodiment also comprises main storage #A11-11 and main storage #A21-12,
Be connected by external expansion interface between main storage #A11-11 and DSP#A11-1, be connected by external expansion interface between main storage #A21-12 and DSP#A21-2;
Also comprise from memory #B12-11 with from memory #B22-12 from node 2,
Be connected by external expansion interface between memory #B12-11 and DSP#B12-1, be connected by external expansion interface between memory #B22-12 and DSP#B22-2.
Interconnected by SPI serial ports between two CSTR, not only provide speed up to 10M/b exchanges data, and taken into account anti-interference and the reliability of transmission.CAN driver can realize the physical layer function that differential code and binary data are changed.Each DSP is respectively furnished with the buffer memory of a memory SRAM for data to be forwarded frame, and DSP is connected by external expansion interface XINTF with memory SRAM.
Embodiment four: present embodiment is described below in conjunction with Fig. 2, present embodiment is described further execution mode one, two or three, and present embodiment also comprises liquid crystal display and operator 7,
Liquid crystal display and operator 7, as man-machine interface, are connected with DSP#A11-1, DSP#A21-2, DSP#B12-1 and DSP#B22-2 respectively.
Liquid crystal display and operator 7 as man-machine interface, for configuration and the fault alarm of gateway child node.
Embodiment five: present embodiment is described below in conjunction with Fig. 1 to Fig. 8, present embodiment is described further execution mode one, two, three or four, present embodiment also comprises power supply 8, and power supply 8 is for providing working power for DSP#A11-1, DSP#A21-2, DSP#B12-1 and DSP#B22-2.
Operation principle of the present invention and running:
Bridge joint between two-way redundancy CAN network A 3 and two-way redundancy CAN network B 4:
Two-way redundancy CAN network A 3 and two-way redundancy CAN network B 4 pass through the mutual bridge joint of CAN gateway, as shown in Figure 3.Now, the host node 1 of gateway and from node 2 synchronous working, realizes the two-way converting of two net data frames.
with
two data channel Hot Spare each other, the break-make of link P, Q and Z is relevant with the health status of SPI interface between the CAN#A11 port of gateway host node, CAN#A21 port, CAN transceiver, DSP#A1, DSP#A2 and two CSTR, the break-make of link L, M and N then with gateway from CAN#B21 port, CAN#B11 port, the CAN transceiver of node, between DSP#B1, DSP#B2 and two CSTR, the health status of SPI interface is relevant.
Because be mutually completely independently from node and host node, so there is certain software or hardware fault causes in Fig. 3 in the host node of hypothesis gateway
data channel disconnects, so data channel of gateway
still normally can work, can not cause the interruption of transfer of data between two nets, the communication node namely in two-way redundancy CAN network A 3 and two-way redundancy CAN network B 4 still can pass through link
in like manner, when there is part or global fault from node, gateway host node can complete the interconnection between two nets too.
Bridge joint between nonredundancy sub-network bus #E15 and nonredundancy sub-network bus #E26:
By the mutual bridge joint of CAN gateway between nonredundancy sub-network bus #E15 and nonredundancy sub-network bus #E26, as shown in Figure 4.Now, the host node of gateway and simultaneously working from node, mutually monitors, respectively has task to divide the work.The real time bidirectional that host node is responsible for Frame between two nets forwards, then wouldn't forward after receiving data frames from node, but in stand-by period window Skew_Max, monitor the Frame that host node forwards, and by the content that contrasts the Frame that self receives and the host node forwarding data frame monitored and sequence number, judge in the process that host node forwards at Frame, whether to occur frame mistake, LOF, Transmission or the situation such as time delay greatly.If monitor host node above-mentioned mistake occurs, then reissue correct Frame in real time from node, send fault inquiry frame to host node and report to the police to host computer.Now, manually can be set as host node from node in failure conditions, or when host node repeatedly double faults time automatically switch to host node from node, and handoff procedure can not cause communication disruption.For the bridge joint between nonredundancy sub-network bus #E15 and nonredundancy sub-network bus #E26, host node and the workflow from node are distinguished as shown in Figure 5 and Figure 6.
As above-mentioned principle, even if host node or the serious conditions from node generation local fault or global failure occur, intercommunication mutually between nonredundancy sub-network bus #E15 and nonredundancy sub-network bus #E26 still can not be interrupted, and the setting of stand-by period window Skew_Max is no more than 1ms, namely once host node breaks down, can not more than 1ms from the technology time delay that Frame introduces of reissuing of node, CAN communication now remains that Millisecond determines.The working method of this mode of structural redundancy to greatest extent and Hot Spare drastically increases the reliability of CAN gateway.
The bridge joint of redundant network and nonredundant network:
The present invention can realize the bridge joint between redundancy CAN network and nonredundancy CAN network.Network-bus #A1 and network-bus #A2 hot redundancy each other, as shown in Figure 7, in figure, passage () realizes the data retransmission between network-bus #A1 and nonredundancy sub-network bus #E15, passage (two) realizes the data retransmission between network-bus #A2 and nonredundancy sub-network bus #E15, and two data channel are relations of Hot Spare each other.In like manner, passage (three) and (four) realize the data retransmission between network-bus #B1 or network-bus #B2 and nonredundancy sub-network bus #E2.
The bridge joint of redundant network and nonredundant network is divided into Redundant process and nonredundancy process, illustrates below for the bridge joint between redundant network bus #A1 or network-bus #A2 and nonredundancy sub-network bus #E15:
Redundant process:
Nonredundancy sub-network bus #E15 to network-bus #A1 or network-bus #A2 is Redundant process, relate to CAN gateway and the Frame on nonredundancy sub-network bus #E15 is carried out information redundancy, and be forwarded on the communication link of network-bus #A1 and network-bus #A2 two hot redundancy each other simultaneously.In Redundant process, gateway host node and be reciprocity from node, completes identical Frame repeating process.And, in order to reduce the technology time delay that gateway data process is introduced as far as possible, in repeating process, do not carry out mutual real time contrast's monitoring.No matter host node or from node, when receiving the Frame of nonredundancy sub-network bus #E15, as long as verification correctly just forwards immediately.Meanwhile, in order to ensure gateway host node and from synchronously internodal, two nodes in the course of the work, can carry out periodically synchronous and state by nonredundancy sub-network bus #E15 and examine mutually.
De-redundancy process: be de-redundancy process to nonredundancy sub-network bus #E15 by network-bus #A1 and network-bus #A2, host node 1, from node 2 based on certain de-redundancy control algolithm, the concrete agreement that described control algolithm and CAN network adopt is relevant, here for ARINC825 agreement, Frame on network-bus #A1 and network-bus #A2 is carried out the de-redundancy of information, then be forwarded on nonredundancy sub-network bus #E15.In de-redundancy process, the host node of gateway is responsible for the forwarding of data, then only forward to host node the Frame that its CAN port #B212-5 receives when gateway normally works from node, and completed by host node, for two-way, there is same sequence number, i.e. the comparison test of mutually redundant Frame, redundant information remove and to the forwarding of nonredundancy sub-network bus #E15.In de-redundancy process, due to the impact of two-way redundant link transmission delay and fault, the situation that will have following three kinds occurs, respectively three kinds of mode of operations of corresponding gateway:
Owing to there is the situations such as time delay from node failure or network-bus #A2 in 1 hypothesis, the CAN port #A111-3 of host node first receives the Frame that network-bus #A1 mails to nonredundancy sub-network bus #E1, so it in stand-by period window Skew_Max, will wait for the backup frame come through nonredundancy sub-network bus #E1 forwarding from node.If host node can receive the backup frame from node in stand-by period window, and can by contrast verification, then host node externally forwards this frame, and renewal sequence decision threshold PSN=PSN+1, now can think that the state of gateway and link is all in good range.If have received in time window the backup frame sent from node but comparison test do not pass through, so think on link or from intra-node generation disturbance, host node can report an error to host computer, and asks respective end node in two-way redundancy CAN network A 3 to resend this frame.And if waiting in window the backup frame do not received from node, so host node will forward the Frame received directly to nonredundancy sub-network bus #E15, then to sending status poll frame from node and carrying out fault alarm to host computer, inform that the situation of frame losing has appearred in user.
2 suppose to occur the situations such as time delay due to master node port fault or network-bus #A1, host node first receives and forwards by nonredundancy sub-network bus #E15 the backup frame of coming by from node, and so it by waiting in stand-by period window network-bus #A1 has same serial number data frame.Then, if having received this Frame in stand-by period window, and have passed contrast verification, so host node will externally forward this frame.If do not receive this frame in stand-by period window, then forward the backup frame sent from node to nonredundancy sub-network bus #E15, and renewal sequence decision threshold PSN=PSN+1, carry out fault alarm to host computer simultaneously.
3 hypothesis are due to situations such as host node permanent fault or network-bus #A1 disconnections, after backup frame so from node to host node success transmission network bus #A2, the Frame that host node externally forwards can not be monitored in stand-by period window, so now directly externally can forward this backup frame from node, and renewal sequence decision threshold PSN=PSN+1, carry out fault alarm to host computer simultaneously.
The present invention can be applied to the air environment networking of small commercial secondary-line-aircraft, completes based on aviation CAN, the bridge joint namely between the avionics system backbone network of ARINC825 bus and subregion sub-network.As shown in Figure 8, CAN#A1/CAN#A2 and CAN#B1/CAN#B2 forms two two redundant backbones networks of certain small commercial secondary-line-aircraft electronic system, wherein CAN#A1/#A2 is the actor network of air environment, each other redundancy, and CAN#A1/#A2 is then sensor network.Passenger cabin control system as the control terminal of whole avionics system, the airborne computer of its inside by four independently CAN port and two backbone networks interconnect, be in charge of all airborne electronic equipment resources.In cabin, each avionics subsystem must access backbone network by the network equipment, completes control command transmission and information sharing highly.Digital gateway of the present invention can effectively support ARINC825 agreement, and the high speed interconnect that can be subsystem network and backbone network provides Reliable guarantee.By the conversion of digital gateway, avionics system trunk redundant network CAN#A1/CAN#A2 and CAN#B1/CAN#B2 realizes interconnected bridge joint with the nonredundant network CAN#E1 of subsystem #3 inside and CAN#E2 respectively, if and have one can normally work in two of intra-gateway child nodes, so
with
data communication would not there is any interruption.
Claims (5)
1. the high fault tolerance CAN digital gateway based on two CSTR, it is characterized in that, it comprises host node (1), from node (2), two-way redundancy CAN network A (3), two-way redundancy CAN network B (4), nonredundancy sub-network bus #E1 (5) and nonredundancy sub-network bus #E2 (6)
Two-way redundancy CAN network A (3) comprises network-bus #A1 and network-bus #A2;
Two-way redundancy CAN network B (4) comprises network-bus #B1 and network-bus #B2;
Host node (1) comprises DSP#A1 (1-1), DSP#A2 (1-2), CAN port #A11 (1-3), CAN port #A12 (1-4), CAN port #A21 (1-5) and CAN port #A22 (1-6);
DSP#B1 (2-1), DSP#B2 (2-2), CAN port #B11 (2-3), CAN port #B12 (2-4), CAN port #B21 (2-5) and CAN port #B22 (2-6) is comprised from node (2);
By SPI data channel transmission data between DSP#A1 (1-1) and DSP#A2 (1-2), DSP#A1 (1-1) is connected with network-bus #A1 by CAN port #A11 (1-3), DSP#A1 (1-1) is connected with nonredundancy sub-network bus #E1 (5) by CAN port #A12 (1-4), DSP#A2 (1-2) is connected with network-bus #B2 by CAN port #A21 (1-5), and DSP#A2 (1-2) is connected with nonredundancy sub-network bus #E2 (6) by CAN port #A22 (1-6);
By SPI data channel transmission data between DSP#B1 (2-1) and DSP#B2 (2-2), DSP#B1 (2-1) is connected with network-bus #B1 by CAN port #B11 (2-3), DSP#B1 (2-1) is connected with nonredundancy sub-network bus #E2 (6) by CAN port #B12 (2-4), DSP#B2 (2-2) is connected with network-bus #A2 by CAN port #B21 (2-5), and DSP#B2 (2-2) is connected with nonredundancy sub-network bus #E1 (5) by CAN port #B22 (2-6);
The DSP#A1 (1-1) of host node (1) and between the DSP#B1 (2-1) and DSP#B2 (2-2) of node (2), the DSP#A2 (1-2) of host node (1) and transmit data by SPI data channel between the DSP#B1 (2-1) and DSP#B2 (2-2) of node (2).
2. the high fault tolerance CAN digital gateway based on two CSTR according to claim 1, it is characterized in that, host node (1) also comprises CAN driver #A11 (1-7), CAN driver #A12 (1-8), CAN driver #A21 (1-9) and CAN driver #A22 (1-10)
CAN driver #A11 (1-7) is arranged between DSP#A1 (1-1) and CAN port #A11 (1-3), CAN driver #A12 (1-8) is arranged between DSP#A1 (1-1) and CAN port #A12 (1-4), CAN driver #A21 (1-9) is arranged between DSP#A2 (1-2) and CAN port #A21 (1-5), and CAN driver #A22 (1-10) is arranged between DSP#A2 (1-2) and CAN port #A22 (1-6);
CAN driver #B11 (2-7), CAN driver #B12 (2-8), CAN driver #B21 (2-9) and CAN driver #B22 (2-10) is also comprised from node (2),
CAN driver #B11 (2-7) is arranged between DSP#B1 (2-1) and CAN port #B11 (2-3), CAN driver #B12 (2-8) is arranged between DSP#B1 (2-1) and CAN port #B12 (2-4), CAN driver #B21 (2-9) is arranged between DSP#B2 (2-2) and CAN port #B21 (2-5), and CAN driver #B22 (2-10) is arranged between DSP#B2 (2-2) and CAN port #B22 (2-6).
3. the high fault tolerance CAN digital gateway based on two CSTR according to claim 2, is characterized in that, host node (1) also comprises main storage #A1 (1-11) and main storage #A2 (1-12),
Be connected by external expansion interface between main storage #A1 (1-11) with DSP#A1 (1-1), be connected by external expansion interface between main storage #A2 (1-12) with DSP#A2 (1-2);
Also comprise from memory #B1 (2-11) with from memory #B2 (2-12) from node (2),
Be connected by external expansion interface between memory #B1 (2-11) with DSP#B1 (2-1), be connected by external expansion interface between memory #B2 (2-12) with DSP#B2 (2-2).
4. the high fault tolerance CAN digital gateway based on two CSTR according to claim 1,2 or 3, is characterized in that, it also comprises liquid crystal display and operator (7),
Liquid crystal display and operator (7), as man-machine interface, are connected with DSP#A1 (1-1), DSP#A2 (1-2), DSP#B1 (2-1) and DSP#B2 (2-2) respectively.
5. the high fault tolerance CAN digital gateway based on two CSTR according to claim 4, it is characterized in that, it also comprises power supply (8), and power supply (8) is for providing working power for DSP#A1 (1-1), DSP#A2 (1-2), DSP#B1 (2-1) and DSP#B2 (2-2).
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