CN103490966A - Dual-redundancy CAN bus data receiving and processing method - Google Patents
Dual-redundancy CAN bus data receiving and processing method Download PDFInfo
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Abstract
The invention provides a dual-redundancy CAN bus data receiving and processing method which aims to solve the problem the existing technique can not simply and effectively solve the problem that two channels receive repeated data. The method comprises the steps of (1) sending data composed of data frames on a first channel and a second channel of a dual-redundancy CAN bus at the same time, (2) receiving the data of the first channel of the dual-redundancy CAN bus and the data of the second channel of the dual-redundancy CAN bus, (3) judging whether repeated data distinguishing needs to be carried out on the data frames of the data received from the two channels, (4) directly using the data with repeated data distinguishing not needed, distinguishing the data frames with repeated data distinguishing needed, using unrepeated data in the data frames treated with distinguishing, and discarding the repeated data. According to the dual-redundancy CAN bus data receiving and processing method, influence of software delay and circuit delay on dual-redundancy CAN bus data receiving is avoided with simple methods.
Description
Technical field
The present invention relates to a kind of data processing method, more specifically, relate to a kind of dual-redundant CAN bus method for receiving and processing data.
Background technology
Adopt the control network of traditional single CAN bus, can have some inefficacy link, such as backbone fault, branch line fault, drive circuit fault etc.Therefore, in prior art, for stability and the fail safe that improves transfer of data, usually use the dual-redundant CAN bus network.
The method of guaranteeing communication reliability and error control in prior art is Chinese patent application (application number is CN200810106342.6) for example, the communication means that it discloses a kind of dual-redundant CAN bus communication system, comprise the steps: 1) starter node 1 and node 2 in network; 2) set up the communication registration form between node 1 and node 2; 3), when node 1 will send message to node 2, node 1 determines that according to the operation that will carry out the transmission mode of message is single frames Packet Transfer Mode or Packet Transfer Mode in enormous quantities; 4), if adopt the single frames Packet Transfer Mode, between two nodes, adopt and return to the N automatic retransmission mechanism transmitting procedure is carried out to error management; 5), if adopt Packet Transfer Mode in enormous quantities, between two nodes, adopt and select the refusal automatic retransmission mechanism to carry out error management to transmitting procedure.Selection refusal automatic retransmission mechanism in described step 5 is the frame that only is detected mistake that receiving node requires sending node to retransmit.But said method is unsuitable for adopting reliable communication when two redundant channel hot-swap technology and two redundant channels data are same to be sent out with the receipts technology.
Wherein, two redundant channel hot-swap technology are that a passage of dual CAN bus is as service aisle, another one passage Hot Spare, when service aisle breaks down, be switched to backup path, backup path works on as service aisle, if passage originally repairs as backup path, if can not repair identify fault.
Two redundant channels data with send out with the receipts technology be two passages of dual CAN bus all as service aisle, data transmit on two passages simultaneously, as long as there have a channel data to transmit to be unobstructed, think working properly.
But, the technical scheme of processing when prior art there is no simply, effectively solves two passages and receives repeating data.The receiving node of dual-redundant CAN bus system can be received respectively identical data on dual bus, and affected by software delays, line delay etc., the data break time of receiving on two passages can be different, and how distinguishing the data that receive is the key that repeating data becomes reception & disposal.
Summary of the invention
In order to solve the above-mentioned problems in the prior art, the invention provides a kind of dual-redundant CAN bus method for receiving and processing data and put forward with the receipts technology with sending out for two redundant channels data.
According to an aspect of the present invention, provide a kind of dual-redundant CAN bus method for receiving and processing data, comprised the steps:
(1) send the data that Frame forms on the first passage of dual-redundant CAN bus and second channel simultaneously;
(2) receive the data of the first passage of dual-redundant CAN bus, receive the data of the second channel of dual-redundant CAN bus simultaneously;
(3) in the Frame of the data that judgement receives in two passages, whether need to distinguish repeating data;
(4) data in the Frame that does not need to distinguish repeating data are directly used, needs are distinguished to the Frame of repeating data and distinguished: the non-repeating data through in the Frame of differentiating and processing is used, to repeating data wherein jettisoning.
In step (1), deposit the message sequence number in Frame, and, in each passage, the message sequence number of each Frame changes after each the transmission.
Further, in step (3), according to the message identifier of Frame, determine whether to need to distinguish repeating data.
Further, in step (4), according to described message sequence number, distinguished.
Further, step (4) comprises the steps:
(a) obtain new Frame the message sequence number and last time the message sequence number, wherein, the message sequence number of new Frame is the message sequence number of the current data frame that receives from one of them passage, and last time, the message sequence number was before receiving described current data frame, receive, with described current data frame, have the message sequence number of Frame of the message identifier of identical Frame by any passage;
(b) whether the message sequence number that judges new Frame equals message sequence number last time: if equate, and the current data frame of the described reception of jettisoning; Otherwise the message sequence number of the current data frame of described reception is assigned to described last time of message sequence number use current data frame.
Further, the message sequence number of the same data that send on two passages is identical, and each frame of message sequence number of the different pieces of information of transmission is not identical.
Further, the message sequence number takies a byte length, circulation change in the data area of 0-255.
Of the present invention have suitable effect as follows: adopt this dual-redundant CAN bus method for receiving and processing data, only increase the transmission information of a byte, just can solve the processing problem of repetitive instruction, also evade the impact on the dual-redundant CAN bus data receiver such as software delays, line delay.
The accompanying drawing explanation
Fig. 1 is dual-redundant CAN bus schematic network structure according to an embodiment of the invention;
Fig. 2 is CAN Interface Expanding schematic diagram according to an embodiment of the invention;
Fig. 3 shows the data frame format that needs to distinguish repeating data according to an embodiment of the invention;
Fig. 4 shows data receiver process chart according to an embodiment of the invention.
Embodiment
Below in conjunction with accompanying drawing explanation specific embodiments of the invention.
As shown in Figure 1-2, be structural representation and the CAN Interface Expanding schematic diagram of dual-redundant CAN bus network.
On hardware, dual-redundant CAN bus is used two CAN buses, two CAN bus drivers and two CAN bus control units and a CPU simultaneously.CPU is by different ports and interrupt controlling two CAN controllers simultaneously.In one embodiment, dual-redundant CAN bus BUS A, BUS B require to use identical two cover CAN equipment, thereby realize physical medium.The CAN equipment of BUS A comprises independently bus cable, bus driver 1-2 and bus control unit 1-1, and the CAN equipment of BUS B comprises independently bus cable, bus driver 2-2 and bus control unit 2-1.CPU1 is realized by FPGA.
At work, can send same group of data by two bus B US A, BUS B during transmission.During reception, cpu controller 1-1 and 2-1 can process the data of sending on two-way bus B US A, BUS B simultaneously, receive and suitably process.
In one embodiment, double-redundancy CAN interface card 1-1 and 1-2 are respectively SJAl000, and they provide two-way independently 8 bit address of CAN interface, every chip/data/address bus and read-write control signal.The SJAl000 output signal connects CAN transceiver PCA82C250 through optocoupler, and the PCA82C250 power supply is insulating power supply, by the insulating power supply modular converter, is provided.The reset signal of CAN bus is provided by fpga chip, and the interrupt signal of CAN controller SJAl000 outputs to FPGA.
On Software for Design, adopt the vxworks operating system exploitation to drive.Vxworks operating system is a high-performance on target machine, the embedded hard real time operating system that can reduce of operating in that wind river company (Wind River SyStem) releases, it comprises several parts such as management of process, storage administration, equipment control, file system management, procotol and system applies, only taken very little memory space, and can highly reduce, the system that guaranteed can be with higher efficiency operation.In the high field of the high-quality precision and sophisticated technologies such as it is widely used in remarkable real-time with its good reliability and communicates by letter, military affairs, Aeronautics and Astronautics and requirement of real-time.
Vxworks operating system provides several standard driving models, as serial device driver, Block Device Driver, network interface driving, bus control unit driving etc.According to the equipment difference, can select corresponding standard driving model or make the CAN module by oneself is serial device, design alternative the standard serial device Driver Model.
As shown in Figure 2, according to one embodiment of present invention, data to be sent are sent by CAN passage A and CAN channel B with the form of Frame simultaneously, and the data that are sent out at above-mentioned two passages are received simultaneously.In Frame to be sent, frame message identifier and message sequence number have all been deposited.
In each passage, after sending Frame at every turn, the message sequence number of the Frame that next frame is to be sent will be more last the frame number of the Frame that sends of this passage change.In a preferred embodiment, this message sequence number takies a byte, and the increase that will circulate in the scope of 0-255.As shown in Figure 3, this message sequence number is placed in the data fields of frame data.
Fig. 3 also shows the frame format of each frame data to be sent.Each frame data includes: frame head (1 byte), arbitration (1 byte), controlling filed (1 byte), data fields (8 byte), postamble and other (1 byte) this five parts.Wherein, data fields comprises these 8 bytes of DAT A0-DAT A7, and DAT A0 is for depositing the message sequence number.
Below in conjunction with Fig. 4, describe dual-redundant CAN bus method for receiving and processing data of the present invention in detail.
According to a preferred embodiment of the present invention, identical with the message sequence number of the identical data sent respectively on the CAN channel B at two CAN passage A, each frame of message sequence number of the different pieces of information of transmission is not identical.The message sequence number is circulation change in the data area of 0-255, and the condition of its variation is: for different message, the message sequence number changes.In a preferred embodiment, this message sequence number increases 1 certainly for different message.
When send respectively the data that Frame forms on CAN passage A and CAN channel B after, the data receiver of dual-redundant CAN bus receives the data that Frame that two passages send forms simultaneously simultaneously, and its reception is according to receiving and realize frame by frame.Wherein, the data receiver of dual-redundant CAN bus is used the data reception module of various dual-redundant CAN bus of the prior art, and its specific implementation is those skilled in the art's common practise, not as inventive point of the present invention.In certain embodiments, can use TJA1040,82C250, the LPC2292 of 8XC196CA/CB, the Philip of Intel, 81C90/91 of Siemens etc.
After from CAN passage A and CAN channel B, receiving respectively two Frames, need judgement whether need to distinguish repeating data in these two Frames.So-called repeating data, be defined as two Frames that belong to respectively different CAN passages of same number of frames message identifier.Therefore, during judgement, according to the message identifier of Frame, determine whether to need to distinguish repeating data.Wherein, to the data in the Frame that does not need to distinguish repeating data, directly use and get final product; And the Frame of needs differentiation repeating data is distinguished.
The concrete operations of above-mentioned differentiation are: according to described message sequence number, the above-mentioned Frame that belongs to respectively different passage is distinguished.In a preferred embodiment, this differentiation comprises following two steps:
(a) obtain new Frame the message sequence number and last time the message sequence number, wherein, the message sequence number of new Frame is the message sequence number of the current data frame that receives from one of them passage, and last time, the message sequence number was before receiving described current data frame, receive, with described current data frame, have the message sequence number of Frame of the message identifier of identical frame by any passage;
(b) whether the message sequence number that judges new Frame equals message sequence number last time: if equate, and the current data frame of the described reception of jettisoning; Otherwise the message sequence number of the current data frame of described reception is assigned to described last time of message sequence number use current data frame.
By that analogy, a plurality of Frames that receive have just formed the initial data while sending.
Each above embodiment is described the preferred embodiment of the present invention; not scope of the present invention is limited; design under the prerequisite of spirit not breaking away from the present invention; various distortion and improvement that the common engineers and technicians in this area make technical scheme of the present invention, all should fall in the definite protection range of claims of the present invention.
Claims (7)
1. a dual-redundant CAN bus method for receiving and processing data, is characterized in that, comprises the steps:
(1) send the data that Frame forms on the first passage of dual-redundant CAN bus and second channel simultaneously;
(2) receive the data of the first passage of dual-redundant CAN bus, receive the data of the second channel of dual-redundant CAN bus simultaneously;
(3) in the Frame of the data that judgement receives in two passages, whether need to distinguish repeating data;
(4) data in the Frame that does not need to distinguish repeating data are directly used, needs are distinguished to the Frame of repeating data and distinguished: the non-repeating data through in the Frame of differentiating and processing is used, to repeating data wherein jettisoning.
2. method for receiving and processing data according to claim 1, is characterized in that, in step (1), deposits the message sequence number in Frame, and, in each passage, the message sequence number of each Frame changes after each the transmission.
3. method for receiving and processing data according to claim 2, is characterized in that, in step (3), according to the message identifier of Frame, determines whether to need to distinguish repeating data.
4. method for receiving and processing data according to claim 3, is characterized in that, in step (4), according to described message
Sequence number is distinguished.
5. method for receiving and processing data according to claim 4, is characterized in that, step (4) further comprises the steps:
(a) obtain new Frame the message sequence number and last time the message sequence number, wherein, the message sequence number of new Frame is the message sequence number of the current data frame that receives from one of them passage, and last time, the message sequence number was before receiving described current data frame, receive, with described current data frame, have the message sequence number of the Frame of identical frame message identifier by any passage;
(b) whether the message sequence number that judges new Frame equals message sequence number last time: if equate, and the current data frame of the described reception of jettisoning; Otherwise the message sequence number of the current data frame of described reception is assigned to described last time of message sequence number use current data frame.
6. method for receiving and processing data according to claim 3, is characterized in that, the message sequence number of the same data that send on two passages is identical, and each frame of message sequence number of the different pieces of information of transmission is not identical.
7. method for receiving and processing data according to claim 6, is characterized in that, the message sequence number takies a byte length, circulation change in the data area of 0-255.
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| CN104363156A (en) * | 2014-10-31 | 2015-02-18 | 北奔重型汽车集团有限公司 | Dual-redundancy network topology structure and method |
| CN105353678A (en) * | 2015-11-17 | 2016-02-24 | 珠海格力电器股份有限公司 | CAN bus communication isolation circuit and method |
| CN105656601A (en) * | 2015-12-28 | 2016-06-08 | 华为技术有限公司 | Repeated message determining method and receiver device |
| CN106330640A (en) * | 2016-08-17 | 2017-01-11 | 中国航空工业集团公司西安飞行自动控制研究所 | Data cross transmission method based on CAN bus |
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| CN112947151B (en) * | 2021-01-28 | 2023-05-12 | 中国人民解放军93114部队 | Efficient filtering method and device based on double CAN buses of vehicle |
| CN113141289A (en) * | 2021-05-18 | 2021-07-20 | 卡斯柯信号有限公司 | Bus data transmission method for trackside safety platform |
| CN113141289B (en) * | 2021-05-18 | 2022-07-26 | 卡斯柯信号有限公司 | Bus data transmission method for trackside safety platform |
| CN113806290A (en) * | 2021-08-27 | 2021-12-17 | 中国航空无线电电子研究所 | High-integrity system-on-chip for comprehensive modular avionics system |
| CN113806290B (en) * | 2021-08-27 | 2023-10-27 | 中国航空无线电电子研究所 | High-integrity system-on-a-chip for integrated modular avionics systems |
| CN116360389A (en) * | 2023-02-22 | 2023-06-30 | 北京航天发射技术研究所 | Synchronous servo controller fault control system and method for electrically driven special vehicle |
| CN116360389B (en) * | 2023-02-22 | 2024-04-09 | 北京航天发射技术研究所 | Synchronous servo controller fault control system and method for electrically driven special vehicle |
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