CN103576665A - Can bus control system - Google Patents
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- CN103576665A CN103576665A CN201310610751.0A CN201310610751A CN103576665A CN 103576665 A CN103576665 A CN 103576665A CN 201310610751 A CN201310610751 A CN 201310610751A CN 103576665 A CN103576665 A CN 103576665A
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Abstract
The invention relates to a CAN bus control system which is used for controlling the CAN network. The CAN bus control system comprises an upper computer and nodes, which are connected through a CAN bus, wherein the upper computer is provided with a plurality of working modes to control the nodes to work under the different working modes. According to the CAN bus control system provided by the invention, the upper computer is provided with working modes, so that functions of real-time monitoring of the CAN bus state, sensor data acquisition, CAN node function control, data real-time processing for drawing, node function debugging and the like in the CAN bus control system can be realized. Therefore, the CAN bus control system can efficiently, quickly and conveniently meet the requirements of special work, and meet requirements of users on different working modes.
Description
Technical field
The present invention relates to CAN monitoring bus technical field, relate in particular to a kind of CAN bus control system.
Background technology
Controller local area network (Controller Area Network, CAN) is a kind of multi-line network communicating system.CAN bus is because its remarkable performance, high reliability and cheap price have now been widely used in industrial field control field, for example, automatic industrial manufacturing line, automobile, sensor, Medical Devices, Intelligent Building, elevator are controlled, environment is controlled distributed real-time system.
After total line traffic control networking success based on CAN, for testing CAN bus each functional module communication and agreement implementation status, mainly utilize the use CAN analysis software CANalystII of Zhou Ligong company exploitation, the application program matching is with it CANPro, and the data that data realize between CAN network and user by CANPro application program are linked up.
Yet, existing CANPro software is the reception completely of having no differentiation for the data receiver based on CAN network, can think that the data receive mode of this software is the pattern of monitoring all data of CAN bus, this is completely passable under certain only monitors with regard to passable experimental enviroment; But there is very large defect in this single mode of operation, such as needs, check the data that receive and represent implication, need in receiving data, check in turn, when data transfer rate is high, can envision this is a very hard work.In addition, for the send mode of data, are the modes of substantially writing of utilizing Frame, the data structure of editor's appointment is carried out, and does not possess the procedural sending function of working control network; Simultaneously when software just as bus on during a certain monitoring node, do not allow this node uploading data completely, but do not enable forbidding of not setting of data sending function.Therefore, existing CANPro software can not meet the demand of user to different working modes.
Summary of the invention
The invention provides a kind of CAN bus control system, can complete efficiently, quickly and easily particular job requirement, meet the demand of user to different working modes.
The invention provides a kind of CAN bus control system, for controlling CAN network, comprise the host computer and the node that by CAN bus, are connected, described host computer is provided with multiple-working mode, and under different described mode of operations, controls described node and carry out work.
In a kind of possible embodiment of the present invention, described mode of operation comprises: host node pattern and from node mode;
When in described host node pattern, by node described in described PC control, carry out data processing operation;
When in described during from node mode, a node of simulating in described CAN network by described host computer carries out described data processing operation.
In a kind of possible embodiment of the present invention, described data processing operation comprises following a kind of or any combination in listed:
According to the communication protocol of described CAN bus, trigger the sensor image data of described node;
Or the data of utilizing the sensor of described node to gather, carry out data and process in real time drawing;
Or, the state of CAN bus described in real-time listening;
Or, carry out the function debugging of described node;
Or, carry out the function of described node and control.
In a kind of possible embodiment of the present invention, described host node pattern comprises: aggressive mode and Passive Mode;
When in described aggressive mode, described host computer initiatively sends request of data instruction, and receives the data of returning for described request of data instruction, after the described data of returning are processed, carries out repeat-back;
When in described Passive Mode, the passive reception data of described host computer, and carry out repeat-back after the data of described reception are processed.
In a kind of possible embodiment of the present invention, described host computer initiatively sends request of data instruction, and receives the data of returning for described request of data instruction, after the described data of returning are processed, carries out repeat-back, specifically comprises:
A1, described host computer send described request of data instruction;
A2, described host computer judge that whether described request of data instruction sends successfully, if so, carries out A3, otherwise returns to A1;
A3, described host computer read the data of returning for described request of data instruction;
A4, described host computer judge whether to need write command, if so, carry out A5, otherwise process ends;
A5, described host computer send described write command to CAN network;
A6, described host computer judge whether described write command sends successfully, if so, and process ends, otherwise return to A5.
In a kind of possible embodiment of the present invention, before described host computer initiatively sends request of data instruction, also comprise:
Set the time interval and time span that described host computer sends described request of data instruction;
Described host computer sends described request of data instruction according to the described time interval and time span.
In a kind of possible embodiment of the present invention, the passive reception data of described host computer, and carry out repeat-back after the data of described reception are processed, specifically comprise:
B1, the time interval of setting described host computer passive state and time span;
B2, described host computer judge whether to set successfully, if so, carry out B3, otherwise return to B1;
B3, described host computer are opened Passive Mode, according to described time span, start countdown;
B4, described host computer are waited for the data that receive described CAN network;
B5, described host computer judge whether the data of described CAN network, if so, carry out B6, otherwise carry out B9;
B6, described host computer judge whether to need write command, if so, carry out B7, otherwise, carry out B9;
B7, described host computer send described write command to described CAN network;
B8, described host computer judge whether described write command sends successfully, if so, carry out B9, otherwise return to B7;
B9, described host computer judge whether described time span exhausts, if so, and process ends, otherwise return to B4.
In a kind of possible embodiment of the present invention, describedly from node mode, comprise: listen mode and functional node pattern;
When in described listen mode, described host computer is monitored the data of described CAN network, and described data preserved in record;
When in described functional node pattern, by described host computer and be modeled to a node of described CAN network for described host computer being connected to the functional module of described CAN network, to described CAN network, send the sensing data of simulation, and carry out operation response.
CAN bus control system provided by the invention, its host computer is provided with multiple-working mode, can in CAN bus control system, realize in real-time listening CAN bus state, pick-up transducers data, the control of CAN nodal function, data and process in real time the functions such as drawing, nodal function debugging, what make that it can be efficient, quick and easy completes particular job requirement, meets the demand of user to different working modes.
Accompanying drawing explanation
The structural representation of the CAN bus control system that Fig. 1 provides for the embodiment of the present invention;
The mode of operation block diagram of the host computer of the CAN bus control system that Fig. 2 provides for the embodiment of the present invention;
The workflow diagram of a kind of aggressive mode of the host node pattern that Fig. 3 provides for the embodiment of the present invention;
The workflow diagram of the another kind of aggressive mode of the host node pattern that Fig. 4 provides for the embodiment of the present invention;
The workflow diagram of the Passive Mode of the host node pattern that Fig. 5 provides for the embodiment of the present invention.
Embodiment
Below by drawings and Examples, technical scheme of the present invention is described in further detail.
Fig. 1 is the structural representation of the CAN bus control system that provides of the embodiment of the present invention, and as shown in Figure 1, this system comprises: host computer 1, a plurality of node 2 and CAN bus 3, host computer 1 is connected by CAN bus 3 with node 2.
After CAN bus control system is put up, in order to realize quickly and easily the effects such as real-time listening, sensor data acquisition, the control of CAN nodal function, the simple processing in real time of data drawing, nodal function debugging, need to write host computer application program.
In embodiments of the present invention, based on CAN bus control system upper computer software, for meeting different job requirements, by the Working mode set of host computer 1, be host node pattern and from two kinds of node modes.Optionally, Fig. 2 is the mode of operation block diagram of the host computer of the CAN bus control system that provides of the embodiment of the present invention, as shown in Figure 2, the mode of operation of host computer 1 comprises host node pattern and from node mode, wherein, host node pattern comprises aggressive mode and Passive Mode, from node mode, comprises functional node pattern and listen mode.Wherein, aggressive mode comprises single-step mode and continuous mode, and Passive Mode comprises continuous mode.
When host computer 1 is during in described host node pattern, by described host computer 1, control node 2 and carry out data processing operation.The user of host computer 1 can directly control the data transmit-receive of each node 2 of CAN network by host computer 1, according to user's actual needs, realize operations such as node sensor data acquisitions.
Optionally, described data processing operation comprises following a kind of or any combination in listed:
According to the communication protocol of described CAN bus, trigger the sensor image data of described node;
Or the data of utilizing the sensor of described node to gather, carry out data and process in real time drawing;
Or, the state of CAN bus described in real-time listening;
Or, carry out the function debugging of described node;
Or, carry out the function of described node and control.
According to different to data acquisition pattern, described host node pattern comprises: aggressive mode and Passive Mode, aggressive mode is after user's request msg, just to obtain data, Passive Mode is can obtain without request msg the data that need, but the two all needs to analyze according to the actual conditions of data when receiving data, reply and reply instruction if desired.The two all has very important practical value in actual applications, realizes CAN network data acquisition controllability, and the controllability of the nodal function of CAN network realization.
When host computer 1 has the initiative pattern, host computer 1 initiatively sends request of data instruction, and receives the data of returning for described request of data instruction, after the described data of returning are processed, carries out repeat-back.
In order to facilitate the different requirements of user to operation, described aggressive mode is also provided with single-step mode and continuous mode.When single-step mode, only certain function program is carried out once at every turn, then wait for user's operation again; Continuous mode is the continuous execution that time interval of setting in advance according to host computer user and time span are carried out identical function program, and when the time span of setting exhausts, this function program stops, and waits for the further instruction of user.
Fig. 3 is the workflow diagram of a kind of aggressive mode (initiatively single-step mode) of the host node pattern that provides of the embodiment of the present invention, as shown in Figure 3, comprises the following steps:
S101, the instruction of transmission request of data.
S102, judge that whether described request of data instruction sends successfully, if so, carries out S103, otherwise returns to S101.
S103, read the data of returning for described request of data instruction.
S104, judge whether to need write command, if so, carry out S105, otherwise process ends.
S105, to CAN network, send described write command.
S106, judge whether described write command sends successfully, if so, process ends, otherwise return to S105.
Fig. 4 is the workflow diagram of the another kind of aggressive mode (initiatively continuous mode) of the host node pattern that provides of the embodiment of the present invention, as shown in Figure 4, comprises the following steps:
S201, setting send the time interval and the time span of request of data instruction.
S202, judge whether to set successfully, if so, carry out S203, otherwise return to S201.
S203, unlatching be continuous mode initiatively, and described time span starts countdown.
S204, send described request of data instruction.
S205, judge that whether described request of data instruction sends successfully, if so, carries out S206, otherwise returns to S204.
S206, read the data of returning for described request of data instruction.
S207, judge whether to need write command, if so, carry out S208, otherwise carry out S210.
S208, to CAN network, send described write command.
S209, judge whether described write command sends successfully, if so, carry out S210, otherwise return to S208.
S210, judge whether described time span exhausts, if so, process ends, otherwise return to S204.
When host computer 1 is during in described Passive Mode, the passive reception data of host computer 1, and carry out repeat-back after the data of described reception are processed.
Fig. 5 is the workflow diagram of the Passive Mode (passive continuous mode) of the host node pattern that provides of the embodiment of the present invention, as shown in Figure 5, comprises the following steps:
S301, the time interval of setting described host computer passive state and time span.
S302, described host computer judge whether to set successfully, if so, carry out S303, otherwise return to S301.
S303, described host computer are opened Passive Mode, according to described time span, start countdown.
S304, described host computer are waited for the data that receive described CAN network.
S305, described host computer judge whether the data of described CAN network, if so, carry out S306, otherwise carry out S309.
S306, described host computer judge whether to need write command, if so, carry out S307, otherwise, carry out S309.
S307, described host computer send described write command to described CAN network.
S308, described host computer judge whether described write command sends successfully, if so, carry out S309, otherwise return to S307.
S309, described host computer judge whether described time span exhausts, if so, and process ends, otherwise return to S304.
When host computer 1 during from node mode, carries out described data processing operation by a node in the described CAN network of host computer 1 simulation in described.; when the application program of host computer 1 is when from node mode; the user of host computer 1 can directly receive and dispatch from node data by some in host computer 1 simulation CAN network, realizes the certain operations such as CAN network data is monitored, functional node response debugging according to user's actual needs.
Optionally, describedly from node mode, comprise: listen mode and functional node pattern.When the application program of host computer 1 is during in described listen mode, described host computer is monitored the data of described CAN network, and described data preserved in record.
Listen mode is to CAN bus, not send any data command, the data that only exist on passive monitoring CAN network, then any data that listen in bus are shown and preserved, under this pattern, application program is only suitable for receiver function, inapplicable transmission function.
When host computer 1 is during in described functional node pattern, by described host computer and be modeled to a node of described CAN network for described host computer being connected to the functional module of described CAN network, to described CAN network, send the sensing data of simulation, and carry out operation response.Functional node pattern is mainly to use in debug process, and according to control system debugging needs, the responsive node of host computer simulation sends the sensing data of simulation to CAN network, carry out operation response.
The CAN bus control system that the embodiment of the present invention provides, be provided with multiple-working mode, met the requirement under different working modes based on CAN bus control system, the object of reach convenient, fast, carrying out efficiently related commissioning, operation, can maximum possible meet user for the requirement of the host computer application program of CAN bus control system.Compared to existing technical scheme of not carrying out any mode of operation division, can be according to user's particular job requirement, convenient, fast, complete operation efficiently and safely.
Above-described embodiment; object of the present invention, technical scheme and beneficial effect are further described; institute is understood that; the foregoing is only the specific embodiment of the present invention; the protection domain being not intended to limit the present invention; within the spirit and principles in the present invention all, any modification of making, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (8)
1. a CAN bus control system, be used for controlling CAN network, comprise the host computer and the node that by CAN bus, are connected, it is characterized in that, described host computer is provided with multiple-working mode, and under different described mode of operations, controls described node and carry out work.
2. system according to claim 1, is characterized in that, described mode of operation comprises: host node pattern and from node mode;
When in described host node pattern, by node described in described PC control, carry out data processing operation;
When in described during from node mode, a node of simulating in described CAN network by described host computer carries out described data processing operation.
3. system according to claim 2, is characterized in that, described data processing operation comprises following a kind of or any combination in listed:
According to the communication protocol of described CAN bus, trigger the sensor image data of described node;
Or the data of utilizing the sensor of described node to gather, carry out data and process in real time drawing;
Or, the state of CAN bus described in real-time listening;
Or, carry out the function debugging of described node;
Or, carry out the function of described node and control.
4. system according to claim 2, is characterized in that, described host node pattern comprises: aggressive mode and Passive Mode;
When in described aggressive mode, described host computer initiatively sends request of data instruction, and receives the data of returning for described request of data instruction, after the described data of returning are processed, carries out repeat-back;
When in described Passive Mode, the passive reception data of described host computer, and carry out repeat-back after the data of described reception are processed.
5. system according to claim 4, is characterized in that, described host computer initiatively sends request of data instruction, and receives the data of returning for described request of data instruction, after the described data of returning are processed, carries out repeat-back, specifically comprises:
A1, described host computer send described request of data instruction;
A2, described host computer judge that whether described request of data instruction sends successfully, if so, carries out A3, otherwise returns to A1;
A3, described host computer read the data of returning for described request of data instruction;
A4, described host computer judge whether to need write command, if so, carry out A5, otherwise process ends;
A5, described host computer send described write command to CAN network;
A6, described host computer judge whether described write command sends successfully, if so, and process ends, otherwise return to A5.
6. according to the system described in claim 4 or 5, it is characterized in that, before described host computer initiatively sends request of data instruction, also comprise:
Set the time interval and time span that described host computer sends described request of data instruction;
Described host computer sends described request of data instruction according to the described time interval and time span.
7. system according to claim 4, is characterized in that, the passive reception data of described host computer, and carry out repeat-back after the data of described reception are processed, specifically comprise:
B1, the time interval of setting described host computer passive state and time span;
B2, described host computer judge whether to set successfully, if so, carry out B3, otherwise return to B1;
B3, described host computer are opened Passive Mode, according to described time span, start countdown;
B4, described host computer are waited for the data that receive described CAN network;
B5, described host computer judge whether the data of described CAN network, if so, carry out B6, otherwise carry out B9;
B6, described host computer judge whether to need write command, if so, carry out B7, otherwise, carry out B9;
B7, described host computer send described write command to described CAN network;
B8, described host computer judge whether described write command sends successfully, if so, carry out B9, otherwise return to B7;
B9, described host computer judge whether described time span exhausts, if so, and process ends, otherwise return to B4.
8. system according to claim 2, is characterized in that, describedly from node mode, comprises: listen mode and functional node pattern;
When in described listen mode, described host computer is monitored the data of described CAN network, and described data preserved in record;
When in described functional node pattern, by described host computer and be modeled to a node of described CAN network for described host computer being connected to the functional module of described CAN network, to described CAN network, send the sensing data of simulation, and carry out operation response.
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| CN106066640A (en) * | 2016-06-22 | 2016-11-02 | 吉林建筑大学 | A kind of fire-fighting equipment control system based on CAN and fuzzy control method |
| CN106354059A (en) * | 2016-10-12 | 2017-01-25 | 广东技术师范学院 | CAN (controller area network) bus-based intelligent garment manufacturing suspension control system |
| CN112148646A (en) * | 2020-09-18 | 2020-12-29 | 明峰医疗系统股份有限公司 | CAN network node data monitoring method of CT system |
| CN112583683A (en) * | 2020-12-29 | 2021-03-30 | 中国科学院声学研究所 | Master-slave CAN FD bus application layer communication method and system and electronic equipment |
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