CN103516462B - A kind of non-standard Canopen is from the Frame sending method of node and device - Google Patents
A kind of non-standard Canopen is from the Frame sending method of node and device Download PDFInfo
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Abstract
The invention discloses a kind of non-standard Canopen Frame sending method from node and device, based on Canopen protocol development relatively time-consuming arduously from node for solving in prior art, and realize more complicated problem.The method includes: the identifier position of the arbitration of Frame from node device field is filled function code and the communication object identifier of process data object PDO in Canopen network, and fills data to be sent in data fields, obtain the first Frame；Carry out verifying and generating check results to sent data；Check results is added in the first Frame, obtain the second Frame, the second Frame is sent the host node device to Canopen network.Achieve the communication function only supporting Can2.0 equipment and Canopen network host node, such that it is able to shorten based on Canopen protocol development from the cycle of node, and reduce the complexity of operation.
Description
Technical field
The present invention relates to Canopen network communication field, in particular to a kind of non-standard Canopen
From Frame sending method and the device of node.
Background technology
The most integrated and intelligent along with blower fan system, fan master control system needs to issue relevant control
Information processed is to subsystems core component, and subsystems core component is also required to relevant shape simultaneously
State information is sent to fan master control system.Can(Control Area Network, control area network)
Network is owing to the features such as point spread is flexible, communication delay is less and error detection mechanism is perfect are existing
Field bus is widely used.
Canopen agreement is in CAL(CAN Application Layer, CAN application layer) on the basis of
Exploitation, employ CAL communication and service protocol subset, it is provided that the one of dcs
Implementation.CANopen allows the function of node arbitrarily to expand while ensureing network node interoperability
Exhibition, simple or complicated.In blower fan, the core component of a lot of subsystems is all supported and uses Canopen at present
Agreement.Leading between the systems such as the most existing master control system and change oar, driftage, gearbox fault diagnosis in advance
Letter uses Can network based on Canopen agreement.Master control system PLC(Programmable
Logic Controller, PLD) as host node, remaining each subsystem core controller
As from node, this network structure well ensure that between subsystems, the independence of communication is with reliable
Property.In addition, along with the function of unit is the most perfect, system needs add corresponding module, as
For the root of blade load measuring cell of independent pitch and the digital input and output modules of extension or mould
Intend input/output module etc., and they are required for completing to communicate with master control system PLC.Accordingly, it would be desirable to
Based on Canopen protocol development from node.Traditional is based on Canopen protocol development from node, needs
Object dictionary to be completed is write, to NMT(network management, Network management), SDO(clothes
Business data object, Service Data Objects), PDO(Process Data Object, process data pair
As) and predefined message etc. be achieved.The Canopen being achieved in that is longer from the Node Development cycle,
Canopen realizes extremely complex from the exploitation of node protocol, and development process needs consider a lot of with
The problem that chip performance is relevant, such as OD(object dictionary, object dictionary) realize during its
The distribution of different read-write properties correspondence deposit positions, the requirement to chip performance of the method for four kinds of message realizations
Deng.Additionally, for application-specific, some message it is not necessary that.Such as certain from node only
Being for use as the module of I O function, under this situation, NMT, SDO and predefined message etc. are not have
Necessary.Visible, traditional is longer from the cycle of node based on Canopen protocol development, and realizes
More complicated.
Summary of the invention
The present invention provides a kind of non-standard Canopen Frame sending method from node and device, is used for
Solve in prior art based on Canopen protocol development longer from the node cycle, and realize more multiple
Miscellaneous problem.
The invention provides a kind of non-standard Canopen Frame sending method from node, including:
Process data object PDO in Canopen network is filled in the identifier position that Frame is arbitrated field
Function code and communication object identifier, and in data fields, fill data to be sent, obtain the first data
Frame；Carry out verifying and generating check results to sent data；Check results is added to the first data
In frame, obtain the second Frame, the second Frame is sent the host node device to Canopen network.
Further, said method also includes: the second Frame is being sent the master to Canopen network
After node device, send heartbeat message to host node device.
Further, said method also includes: after obtaining the first Frame, enters the first Frame
Line flag, obtains the labelling of the first Frame；The labelling of the first Frame is added together with check results
In the first Frame.
Wherein, the first Frame is marked includes: to the first data before sending the first Frame
Frame counts, and obtains the count value that current data frame is corresponding, using count value as the first Frame
Labelling.
Wherein, carry out verification to sent data to include: data to be sent entered in units of byte
Row XOR, obtains the result after XOR；Result after XOR and count value are carried out XOR, obtains school
Test result.
According to another aspect of the present invention, it is provided that a kind of non-standard Canopen is from the Frame of node
Dispensing device, including: processing module, fill Canopen for Frame being arbitrated the identifier position of field
The function code of process data object PDO and communication object identifier in network, and fill in data fields and treat
The data sent, obtain the first Frame；Correction verification module, for carrying out verifying also to sent data
Generate check results；First sending module, for check results being added in the first Frame, obtains
Second Frame, sends the host node device to Canopen network by the second Frame.
Further, said apparatus also includes: the second sending module, for being sent by the second Frame
After the host node device of Canopen network, send heartbeat message to host node device.
Further, said apparatus also includes: mark module, is used for after obtaining the first Frame,
First Frame is marked, obtains the labelling of the first Frame；First sending module includes: add
Unit, adds to the labelling of the first Frame in the first Frame together with check results.
Wherein, above-mentioned mark module includes: counting unit, for sending before the first Frame the
One Frame counts, and obtains the count value that current data frame is corresponding, using count value as first
The labelling of Frame.
Wherein, above-mentioned correction verification module includes: the first XOR unit, is used for data to be sent with byte
Carry out XOR for unit, obtain the result after XOR；Second XOR unit, for by the result after XOR
Carry out XOR with count value, obtain check results.
Technical scheme, by by Frame to be sent in Can2.0 equipment according to Canopen
The communication pattern of network host node is packaged, thus by the data frame format of Can2.0A and Canopen
PDO content in traffic model is mapped, it is achieved that off-gauge from node and Canopen network
The communication function of host node.Such that it is able to shorten based on Canopen protocol development from the cycle of node, and
And reduce the complexity of operation.
Accompanying drawing explanation
Fig. 1 is the potential field composition schematic diagram of Frame；
Fig. 2 is arbitration field composition schematic diagram；
Fig. 3 is that the non-standard Canopen of according to embodiments of the present invention 1 is from the Frame sending method of node
Flow chart；
Fig. 4 is that the non-standard Canopen of according to embodiments of the present invention 2 is from the Frame sending method of node
Flow chart；
Fig. 5 be according to embodiments of the present invention 3 realization be similar to the stream of message method of Heartbeating
Cheng Tu；
Fig. 6 is that the non-standard Canopen of according to embodiments of the present invention 4 is from the Frame dispensing device of node
Structured flowchart；And
Fig. 7 be according to embodiments of the present invention 4 the non-standard Canopen of another kind send out from the Frame of node
Send apparatus structure block diagram.
Detailed description of the invention
Understandable, below in conjunction with the accompanying drawings for enabling the above-mentioned purpose of the present invention, feature and advantage to become apparent from
With detailed description of the invention, the embodiment of the present invention is described in further detail.
Embodiment 1
The present embodiment is to use only to support Can2.0A equipment as Canopen network from node, it is achieved its
The method communicated with Canopen network host node.Wherein, Can2.0A is by 4 different frame classes
Type represents and controls, i.e. Frame, remote frame, erroneous frame, overload frame, the present embodiment is concerned only with and
Realize being similar to the Frame that PDO communication function is relevant.The potential field of Frame forms as shown in Figure 1,
, arbitration field initial by frame, controlling filed, data fields, CRC check field, response field, End of Frame form.
The present embodiment is paid close attention to emphatically arbitration field, data fields.Wherein arbitrate the composition of field as shown in Figure 2, secondary
Cutting out in field and be made up of identifier and the long-range request position that sends, data fields is made up of 8 byte.
Fig. 3 is that the non-standard Canopen of according to embodiments of the present invention 1 is from the Frame sending method stream of node
Cheng Tu, as it is shown in figure 1, this method comprises the following steps:
Step 301: Canopen network is filled in the identifier position of the arbitration of Frame from node device field
The function code of middle process data object PDO and communication object identifier, and fill to be sent in data fields
Data, obtain the first Frame；
Step 302: carry out verifying and generating check results to sent data；
Step 303: check results added in the first Frame, obtains the second Frame, by second
Frame sends the host node device to Canopen network.
In above-mentioned steps 301, due to communication object identifier in distinct device, may be because of equipment
Configuration changes and changes, and therefore, in the present embodiment, predefines with conventional Canopen
Principal and subordinate's peer objects illustrates, and can determine that according to give the NodeID from node distribution in host node
Corresponding predefined communication object identifier, i.e. may determine that required arbitration in conjunction with corresponding function code
Identifier position in Chang.Simultaneously for the request that remotely the sends position of arbitration field, due in the present embodiment from
Node sends Frame to host node, and therefore, this remotely sends request position RTR, is set to dominant.
It addition, fill data the most to be sent in eight positions of the data fields of Frame, in these eight positions
Data to be sent are then equivalent to four words transmitted in PDO.
The Frame verification to sending of the equipment of the Can2.0A in this step is specifically, in units of byte
Carry out XOR to sent Frame, the result obtained is being carried out XOR with above-mentioned count value,
The result obtained eventually is as check results.Specifically data to be sent can will be filled in the three of PDO words,
Check results is inserted in a remaining word.The verification that this assay can realize sending data is beaten
Bag or the Canopen network host node data to receiving unpack inspection, when the main joint of Canopen network
Point receive from based on Can2.0A from the Frame of node device time, according to this check results,
To judge in the transmission of data, if frame losing or other error of transmission occur.
Additionally, in above-mentioned steps 301 method of calibration to data to be sent can also use even-odd check,
The methods of calibration such as CRC check realize.
The present embodiment by by non-standard Canopen network Frame to be sent from node device according to
The data frame format of Canopen network service is packaged, it is achieved that non-standard Canopen network is from node
Communication between equipment and Canopen network host node, thus avoid based on Canopen network development from
Node is wasted time and energy, is realized more complicated problem, and then saves manpower, reduces the choosing to equipment
Requirement during type.
Embodiment 2
Fig. 4 is that the non-standard Canopen of according to embodiments of the present invention 2 is from the Frame sending method stream of node
Cheng Tu, as shown in Figure 4, this method comprises the following steps:
Step 401: Canopen network is filled in the identifier position of the arbitration of Frame from node device field
The function code of middle process data object PDO and communication object identifier, and fill to be sent in data fields
Data, obtain the first Frame；
Step 402: be marked the first Frame, obtains the labelling of current data frame；
Step 403: carry out verifying and generating check results to sent data；
Step 404: labelling and check results are filled in the first Frame, obtains the second Frame,
Second Frame is sent the host node device to Canopen network.
In the present embodiment, in order to make Canopen network host node realize it from the monitoring of node,
During in above-mentioned steps 404, the labelling of current data frame is filled into above-mentioned first Frame, so that this labelling
Sent along with current data frame to Canopen network host node equipment.The wherein labelling of current data frame
Then can play the effect of heartbeat message, when host node receives this Frame, by this heart beating report
The detection of literary composition, it may be determined that the most whether Frame mistake occurs.Wherein, the first Frame is entered
Currently processed Frame can be counted by line flag, obtains the count value that current data frame is corresponding,
Using count value as the labelling of the first Frame.Can also be when when transmission current data frame, will be current
Data be labeled as 1, when send next Frame time, data labelling upset be 0, whenever sending a frame
During data, carry out once inside out.
Based on realizing the purpose of heartbeat message, in the present embodiment, can be first at first three word of PDO
The data that middle filling is to be sent；It is separately provided an enumerator, every Fixed Time Interval for each PDO
Add one, reset when counter overflow；In units of byte, first three word of PDO is carried out XOR, gained
To result value with enumerator again carry out XOR, obtain the check results of a byte；By enumerator
Value is put in the high eight-bit of the 4th word of PDO, and check results is put in the low eight of the 4th word of PDO.This
Sample just completes the packing of tetra-words of PDO, the wherein high eight-bit of the 4th word, the value of the most above-mentioned enumerator,
Can realize being similar to the testing mechanism of heartbeat message, low eight verifications that can realize sending data are beaten
Wrap or unpack inspection to receiving data.In addition it is also possible to periodically send according to fixed time interval
Heartbeat message is to the host node of Canopen network.In the present embodiment, take while sending Frame
With heart beating herein, it is achieved that the host node of Canopen network is to from the monitoring of node, thus ensure that
The correctness of communication and reliability.
Embodiment 3
The method that the equipment only supporting Can2.0A realizes in Canopen network communication includes following two
Individual part:
Part I: realize being similar to the message of PDO communication, fills in the identifier position of arbitration field
The function code of PDO and COB-ID in Canopen Communication Model.In different equipment, COB-ID may be because joining
The change put and change, this sentences conventional Canopen and predefines principal and subordinate's peer objects and illustrate,
Corresponding predefined according to can determine that host node to this NodeID from node distribution
COB-ID, i.e. can determine that the identifier position in required arbitration field in conjunction with corresponding function code；In arbitration
" dominant ", " recessive " position accordingly are filled in the request that remotely the sends position of field.It is data due to send
Frame, fills " dominant " position remotely sending at request position, position.8 byte of data fields fill
Data to be sent, are equivalent to four words transmitted in standard PDO.
Part II, it is achieved be similar to heartbeat message, owing to not being similar to heart beating report in Can2.0A
The agreement of literary composition function, can choose a word to realize this function in the PDO message that Part I realizes.
Fig. 5 be according to embodiments of the present invention 3 realization be similar to the method flow diagram of heartbeat message.
As it is shown in figure 5, the method comprises the following steps:
Step 501: fill data to be sent in first three word of PDO；
Step 502: being separately provided an overflow value for each PDO is the enumerator of 256, when fixing
Between interval add 1, when counter overflow reset；
Step 503: in units of byte, first three word of PDO is carried out XOR, acquired results again with enumerator
XOR, obtains the check results of a byte；
Step 504: the value of enumerator is put in the most-significant byte of the 4th word of PDO, above-mentioned check results is put
Least-significant byte in the 4th word of PDO.
Through above step, just completing the packing of tetra-words of PDO, wherein the most-significant byte of the 4th word is permissible
Realizing being similar to the monitoring mechanism of heartbeat message, least-significant byte can realize the verification packing sending data simultaneously
Or unpack inspection to accepting data.From the point of view of above procedure sends for data, data are connect
It is subject to and unpacks testing sequence to be similar to.When " heartbeat message " lost efficacy or unpacked check errors, report communication event
Barrier.
Embodiment 4
Fig. 6 is that the non-standard Canopen of according to embodiments of the present invention 4 is from the Frame dispensing device knot of node
Structure block diagram.
As shown in Figure 6, this non-standard Canopen includes from the Frame dispensing device 60 of node:
Processing module 61, for filling the identifier position of the arbitration of Frame from node device field
The function code of process data object PDO and communication object identifier in Canopen network, and in data fields
The data that middle filling is to be sent, obtain the first Frame；
Correction verification module 62, for carrying out verifying and generating check results to sent data；
First sending module 63, for check results being added in the first Frame, obtains the second data
Frame, sends the host node device to Canopen network by the second Frame.
In order to realize Canopen network host node to from the monitoring of node, said apparatus can also include:
Second sending module, for the second Frame is being sent after the host node device of Canopen network,
Heartbeat message is sent to this host node device.
In order to make Canopen network host node realize it from the monitoring of node, as it is shown in fig. 7, this reality
The device 70 executing example can also include: mark module 71, for after obtaining the first Frame, right
First Frame is marked, and obtains the labelling of current data frame；Based on this mark module, above-mentioned first
Sending module also needs to include: adding device, for adding check results and labelling to second data
In frame.
The most above-mentioned mark module may include that counting unit, for carrying out currently processed Frame
Counting, obtains the count value that current data frame is corresponding, using count value as the labelling of the first Frame.
The most above-mentioned correction verification module can also include: the first XOR unit, for by data to be sent with
Byte is that unit carries out XOR, obtains the result after XOR；Second XOR unit, for by after XOR
Result and count value carry out XOR, obtain check results.
It should be noted that in this article, the relational terms of such as first and second or the like is used merely to
One entity or operation are separated with another entity or operating space, and not necessarily requires or imply
Relation or the order of any this reality is there is between these entities or operation.And, term " includes ",
" comprise " or its any other variant is intended to comprising of nonexcludability, so that include that one is
The process of row key element, method, article or equipment not only include those key elements, but also include the brightest
Other key elements really listed, or also include intrinsic for this process, method, article or equipment
Key element.In the case of there is no more restriction, statement " including ... " key element limited,
It is not precluded from there is also other identical element in including the process of key element, method, article or equipment.
These are only presently preferred embodiments of the present invention, be not intended to limit protection scope of the present invention.
All any modification, equivalent substitution and improvement etc. made within the spirit and principles in the present invention, all comprise
Within the scope of the present invention.
Claims (10)
1. a non-standard Canopen is from the Frame sending method of node, it is characterised in that including:
Process data object PDO in Canopen network is filled in the identifier position that Frame is arbitrated field
Function code and communication object identifier, and in data fields, fill data to be sent, obtain the first data
Frame；
Described data to be sent are verified and generate check results；
Described check results is added in described first Frame, obtains the second Frame, by described
Two Frames send the host node device to described Canopen network.
Method the most according to claim 1, it is characterised in that described method also includes:
After described second Frame is sent the host node device of extremely described Canopen network, to institute
State host node device and send heartbeat message.
Method the most according to claim 1 and 2, it is characterised in that described method also includes:
After obtaining described first Frame, described first Frame is marked, obtains described
The labelling of one Frame；
The labelling of described first Frame is added to described first Frame together with described check results
In.
Method the most according to claim 3, it is characterised in that described described first Frame is entered
Line flag includes:
Before sending the first Frame, described first Frame is counted, obtain current data frame pair
The count value answered, using described count value as the labelling of described first Frame.
Method the most according to claim 4, it is characterised in that described data to be sent are carried out
Verification includes:
Described data to be sent are carried out XOR in units of byte, obtains the result after XOR；
Result after XOR and described count value are carried out XOR, obtains described check results.
6. a non-standard Canopen is from the Frame dispensing device of node, it is characterised in that including:
Processing module, fills process number in Canopen network for Frame is arbitrated the identifier position of field
According to function code and the communication object identifier of object PDO, and in data fields, fill data to be sent,
Obtain the first Frame；
Correction verification module, for verifying described data to be sent and generate check results；
First sending module, for described check results being added in described first Frame, obtains the
Two Frames, send the host node device to described Canopen network by described second Frame.
Device the most according to claim 6, it is characterised in that described device also includes:
Second sending module, for sending the master to described Canopen network by described second Frame
After node device, send heartbeat message to described host node device.
8. according to the device described in claim 6 or 7, it is characterised in that described device also includes:
Mark module, for after obtaining described first Frame, marks described first Frame
Note, obtains the labelling of described first Frame；
Described first sending module includes: adding device, by the labelling of described first Frame and described school
Test result to add to together in described first Frame.
Device the most according to claim 8, it is characterised in that described mark module includes:
Counting unit, for described first Frame being counted before sending the first Frame,
To the count value that current data frame is corresponding, using described count value as the labelling of described first Frame.
Device the most according to claim 9, it is characterised in that described correction verification module includes:
First XOR unit, for described data to be sent are carried out in units of byte XOR, obtains
Result after XOR；
Second XOR unit, for the result after XOR and described count value are carried out XOR, obtains institute
State check results.
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| CN104639296B (en) * | 2015-02-28 | 2018-04-13 | 安徽江淮汽车集团股份有限公司 | A kind of CAN bus data fields method of calibration and system |
| CN106603357A (en) * | 2016-11-11 | 2017-04-26 | 深圳怡化电脑股份有限公司 | Sensor data reporting method, device and system |
| CN109104351B (en) * | 2017-06-21 | 2020-08-25 | 比亚迪股份有限公司 | Train network node and train network node monitoring method based on CANopen protocol |
| CN109343453B (en) * | 2018-11-02 | 2020-01-21 | 合肥保得工业自动化有限公司 | Data synchronization method of CANopen |
| CN111131147B (en) * | 2019-11-08 | 2022-07-26 | 深圳市泰达机器人有限公司 | Ethernet TCP/IP application layer TC transmission protocol method and system based on object dictionary |
| CN112398711B (en) * | 2020-09-23 | 2022-07-15 | 卡斯柯信号有限公司 | CAN bus communication method for safety computer |
| CN113852531B (en) * | 2021-09-22 | 2022-11-15 | 河北通合新能源科技有限公司 | CAN communication method and CAN controller for function code matching |
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