CN103825883A - Multi-protocol conversion equipment based on wireless ZigBee, CAN bus and MODBUS/TCP and realization method thereof - Google Patents
Multi-protocol conversion equipment based on wireless ZigBee, CAN bus and MODBUS/TCP and realization method thereof Download PDFInfo
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Abstract
The invention discloses a multi-protocol conversion equipment which introduces a wireless ZigBee network based on IEEE802.15.4 standard to a CAN bus and MODBUS/TCP industrial Ethernet and the realization method thereof. The equipment comprises a microprocessor, a ZigBee wireless main station, a CAN bus site and an MODBUS/TCP slave station; the microprocessor serves as the control center of the equipment and completes information analysis and distribution among different protocols; an Ethernet physical-layer chip is connected with the microprocessor via an MII interface and an MODBUS/TCP slave station module is built; through connection with a CAN controller via an input bus RX and an output bus TX, a CAN bus main station module is built; a wireless radio frequency chip CC2530 is selected to serve as the ZigBee wireless main station of the equipment and the wireless radio frequency chip CC2530 is connected with the microprocessor via a USART for data exchange. According to the multi-protocol conversion method of the invention, data conversion among three protocols of teh ZigBee wireless network, the CAN bus and the MODBUS/TCP Ethernet are completed through opening an address conversion mapping table and a wireless/wired heterogeneous control network is realized.
Description
Technical field
The present invention relates to a kind of by wireless ZigBee-network introducing CAN-bus fieldbus and the multiprotocol conversion equipment of MODBUS/TCP Industrial Ethernet and the implementation method of multiprotocol conversion thereof based on IEEE802.15.4 standard.
Background technology
Fieldbus is to be applied in the digital communication system that realizes bidirectional linked list multinode between production scene and computerized measurement control appliance, is also referred to as the bottom control network of open, digitlization, multi-point.The appearance of fieldbus has changed conventional on-site metering device and the point-to-point contact method of master control system, has reduced the layout cable of fieldbus, saves the operating expenses of engineering; Along with the intelligent development of field instrument device, can realize the control function of part master control system simultaneously, make control system structure possess the dispersiveness of height.Field bus technique is through the development of decades, form the situation that many standards coexist, although fieldbus has, real-time is good, stability advantages of higher, but all there is the problem of the lower and limited transmission distance of transmission rate in existing multiple fieldbus, and incompatible between each standard of fieldbus, bring very large inconvenience to the integrated and user's of system use, maintenance.
MODBUS/TCP Industrial Ethernet is the extension of MODBUS, and the physical layer of agreement and data link layer are based on Ethernet and standard ICP/IP protocol, and other agreements of the definition of application layer and MODBUS agreement family are general.MODBUS, due to its opening, the transparency, has obtained the extensive support of industrial quarters on the other hand, has become industrial de facto standard.In ZigBee wireless data transmission network based on IEEE802.15.4 standard, between node, the transmission cost of radio frequency is low, distance is short, each node only needs little energy, can realize and peer-to-peer communications multiple spot at 1 o'clock to 2 o'clock, and ZigBee wireless network has the automatically function such as configuration of quickly networking, be applicable to environment comparatively in complexity and severe industrial monitoring system.CAN bussing technique is the distributed control of a kind of effective support and the real-time how main serial communication mode of controlling, there is the characteristics such as good stability, real-time, telecommunication capabilities and superpower hardware CRC error correction, be widely used at automation field with its high-performance and high reliability, be acknowledged as one of the most promising fieldbus.CAN bus and ZigBee wireless network are combined, and composition moving distributing network system, by the communication of the realization of MODBUS/TCP Industrial Ethernet and PC control information, is more conducive to flexibility and the real-time of industrial detection.
Through existing technical literature retrieval is found, China Patent Publication No. is: CN1697448, open day on November 16th, 2005, name is called: multi protocol conversion method and device between MODBUS/TCP Industrial Ethernet and facility network fieldbus and ProfibusDP fieldbus, and this application case discloses the application layer protocol conversion between MODBUS/TCP Industrial Ethernet, DeviceNet fieldbus and ProfibusDP fieldbus; China Patent Publication No. is: CN1645852, open day on July 27th, 2005, name is called method for converting protocol and the device between MODBUS/TCP Industrial Ethernet and ProfibusDP fieldbus, and this application case discloses the protocol conversion between MODBUS/TCP Industrial Ethernet and ProfibusDP fieldbus; The weak point of above two kinds of methods is: all do not relate to the application of industry wireless network.China Patent Publication No. is: CN101425948, open day on May 6th, 2009, name is called: the multi-protocol gateway of industrial wireless network access industrial Ethernet and fieldbus and method for converting protocol, this patent application case has added the industry wireless network based on IEEE802.15.4a, and by microcontroller implementation the protocol conversion between MODBUS/TCP Industrial Ethernet and ProfibusDP fieldbus and three kinds of networks of industry wireless network.But above patent does not all relate to the multi protocol conversion method realized in same device between MODBUS/TCP Industrial Ethernet and industry wireless network and CAN bus and the content of device.Through existing technical literature retrieval is also found, " industrial and mineral automation " 1671-251X (2010) 11-0101 – 05 in 2010, name is called the design of mining Multi-protocol conversion gateway, a kind of design of Embedded mining Multi-protocol conversion gateway has been proposed, this gateway is by CAN bus network, the combination of the networks such as Industrial Ethernet and 802.11 networks, solve the exchanges data problem of down-hole multiple network, but this kind of method do not relate to MODBUS/TCP ethernet communication and wireless ZigBee technology, and in the method for protocol conversion, do not use and open up address transition mapping table by communications protocol and realize protocol conversion function.
Summary of the invention
The present invention has overcome shortcoming of the prior art, and a kind of wireless multi-protocols equipment and method for converting protocol thereof that the wireless ZigBee-network based on IEEE802.15.4 standard is incorporated into MODBUS/TCP Industrial Ethernet and CAN bus is provided.
The present invention, on the basis of existing Industrial Ethernet and fieldbus, has introduced industry wireless network, has realized wire/wireless heterogeneous network control technology.The present invention not only can make in the smart machine such as transducer, the actuator access control network of current on-the-spot wireline interface, and can also be by wireless telecommunications system access control network, the network control scale of expansion equipment completes wired and wireless seamless link thereby realize in unified system protocol framework.
Wireless ZigBee-network based on IEEE802.15.4 standard is a kind of wireless industrial local area network standard, it can realize short distance, lower powered wireless telecommunications, for cheap, fixing, convenient or mobile device, be widely used in recent years at wireless sensor network; Modbus agreement was formulated by Shi Naide company in 1978 the earliest, it was mainly used for a kind of communication language on electronic controller at that time, realize between controller, communicating by letter between controller and network and other equipment, supports traditional RS232/RS485 and the ethernet device of latest development.Released again the Modbus agreement based on TCP/IP in Shi Naide company in 1996, its solution that is applicable to various application with low cost is widely used in automation equipment; CAN bussing technique (Controller Area Network) is controller local area network, is one of most widely used open field bus in the world., perfect in shape and function high as a kind of advanced technology, reliability, the rational telecommunication network Communication Control of cost mode, CAN bus has been widely applied in each automation control system.CAN bus is as a kind of industrial field bus, and it is distributed to each on-the-spot node by the conventionally test of main frame in traditional distributed control system structure with control function and completes, thereby can realize higher level control and management function.Wireless ZigBee-network standard, MODBUS/TCP industrial ethernet protocol and CAN bus protocol based on IEEE802.15.4 all adopt different standards in physical layer and data link layer, in order to realize the exchange of data between these three kinds of agreements, multiprotocol conversion equipment in the wireless isomer that the present invention proposes should meet the requirement of each agreement physical layer and data link layer, again the application layer of different agreement is made definitions respectively.
In order to solve the technical problem of above-mentioned existence, one of object of the present invention is achieved through the following technical solutions:
A kind of multiprotocol conversion equipment (hereinafter to be referred as multiprotocol conversion equipment) that the wireless ZigBee-network based on IEEE802.15.4 standard is incorporated into CAN bus and MODBUS/TCP Industrial Ethernet, this multiprotocol conversion equipment comprises: microprocessor, ZigBee is wireless main website, CAN bus master, MODBUS/TCP slave station, ethernet physical layer interface chip and RJ45 network interface; Described microprocessor is the control centre of whole equipment, adopt STM32F107 family chip, it comprises ethernet mac layer controller, CAN controller and USART serial interface, support Ethernet, CAN bus and the expansion of RS485 bus, can complete parsing and the distribution of information between different agreement; Described ZigBee is wireless, and main website adopts CC2530 radio frequency chip to complete the processing of wireless protocols, be connected with described microprocessor by USART serial interface, and write the control program of wireless main website, thereby set up a wireless master station module, realized wireless ZigBee-network is incorporated in the Industrial Ethernet of CAN bus master and MODBUS/TCP slave station; Described ethernet physical layer interface chip is selected the physical chip of DP83848 chip as equipment, by the described microprocessor of MII interface access, thereby and write described MODBUS/TCP slave station program and set up the slave station module of a MODBUS/TCP, realize and the MODBUS/TCP master-slave communication of remote computer by described RJ45 network interface;
Interface chip between described CAN controller and described CAN bus master is selected SN65VHD230 chip, is connected with output bus TX by input bus RX with CAN controller, realizes the master station module of a CAN bus master; Realize wireless ZigBee-network is incorporated in CAN bus and MODBUS/TCP Industrial Ethernet by the wireless main website of described ZigBee; Described CAN bus master, realizes the CAN bus network based on poll by definition application layer protocol communication mode.
Another object of the present invention is achieved through the following technical solutions: a kind of implementation method that the wireless ZigBee-network based on IEEE802.15.4 standard is incorporated into the multiprotocol conversion of CAN bus and MODBUS/TCP Industrial Ethernet, adopt described a kind of multiprotocol conversion equipment that the wireless ZigBee-network based on IEEE802.15.4 standard is incorporated into CAN bus and MODBUS/TCP Industrial Ethernet to carry out protocol conversion, the method comprises: realize the ZigBee wireless telecommunications based on IEEE802.15.4 standard by the wireless main website of ZigBee, realize the communication of CAN bus master-salve station by CAN bus polling mode, by the communication of MODBUS/TCP slave station memory field Mapping implementation MODBUS/TCP, and by setting up address transition map section, by the conversion of data between three agreements of microcontroller implementation, its particular content comprises the steps:
The first step is by multiprotocol conversion device initialize:
(1) microprocesser initialization;
(2) microprocessor reads in network configuration parameters by RS232 interface;
(3) the wireless master station module initialization of ZigBee;
(4) CAN bus master module initialization;
(5) MODBUS slave station module initialization;
(6) for the address transition between different agreement is opened up structure array, according to network configuration parameters, to the initialization of address transition mapping table;
(7) ZigBee main website poll and protocol conversion
(8) CAN bus master poll and protocol conversion;
(9) master-slave communication of MODBUS/TCP slave station and remote computer;
(10) return to step (7), loop.
Second step, by the application layer of the each agreement of definition, is set up a protocol conversion model in system, realizes Wireless/wired and has a protocol conversion between wire protocol; In this protocol conversion system, for realizing the seamless upgrade of fieldbus, the wireless ZigBee-network of definition based on IEEE802.15.4 standard and CAN bus have a main website of network communication separately, can be simultaneously and complete independently the poll of antithetical phrase node data in each automatic network; In order to realize the data message of two master access the other side slave stations, can in the internal memory of microprocessor, open up address transition map section, store in advance all child nodes in wireless ZigBee-network and CAN bus with other network services time corresponding address information; In MODBUS/TCP Industrial Ethernet network, multiprotocol conversion equipment and remote computer composition MODBUS master-Slave Protocol stack, multiprotocol conversion equipment is realized the data query to child node in wireless ZigBee-network and CAN bus as transparent slave station by the control command that receives host computer;
Described transparent slave station refers to that multiprotocol conversion equipment itself does not possess MODBUS tributary address identifying information, and the address information that equipment carries for long-range main website, carries out corresponding parsing and forwarding by address transition map section;
To complete between different agreement the method for exchanges data as follows by setting up address transition map section for the 3rd step:
When microprocessor starts initialization, reserved a part of internal memory is as address transition map section; In the time of ZigBee wireless network and the initialization of CAN bus network, in an address structure body array of address transition map section definition, and by network configuration parameters to address structure array through row initialization, set up address transition mapping table, the corresponding relation of address between definition ZigBee wireless network and CAN bus network network node: changing mapping table by inquire address, to complete the process of a data transfer as follows:
(1) first host computer sends to microcontroller by MODBUS/TCP network by control command, microcontroller is by resolving the Address Recognition information contrast address transition mapping table in MODBUS, contrast address transition mapping table judges this destination address is in which kind of sub-network, judge whether to need and by actual mailing address Reseal in control command;
(2) if the destination address that this instruction is pointed to points to ZigBee-network, send to the wireless main website of ZigBee by USART interface, ZigBee is wireless, and main website directly issues control command that corresponding child node is carried out to data processing;
(3) if if the destination address that this instruction is pointed to belongs to the child node of CAN bus network, be directly forwarded to respective nodes by CAN bus control unit.
Compared with prior art, technical scheme tool of the present invention has the following advantages:
(1) microprocessor connects the wireless signal radio frequency chip CC2530 of ZigBee main website by USART, realize the wireless ZigBee-network based on IEEE802.15.4 standard has been incorporated in the multiprotocol conversion system of MODBUS/TCP Industrial Ethernet and CAN bus, solved the problem that secondary is disposed and equipment wireless penetration is upgraded that fieldbus exists in practical application in industry;
(2) the MODBUS/TCP Industrial Ethernet using in the present invention, it is a kind of simple, efficient control program, be easy to various system interconnections, in this programme, open up address transition mapping table by MODBUS/TCP communications protocol and can realize in multiple communication system and changing between each agreement;
(3) in the present invention, complete the communication of CAN bus master-salve station by CAN bus polling mode, the how main serial communication mode of realizing the distributed control of a kind of effective support and controlling in real time, again CAN bus and ZigBee wireless network are combined, composition moving distributing network system, by the communication of the realization of MODBUS/TCP Industrial Ethernet and PC control information, be more conducive to flexibility and the extensibility of industrial monitoring.
Accompanying drawing explanation
Fig. 1 is the multiprotocol conversion system hardware structure schematic diagram of example of the present invention.
Fig. 2 is the main program flow chart of the multiprotocol conversion system of example of the present invention.
Fig. 3 is the MODBUS/TCP Ethernet physical interface initialization flowchart of example of the present invention.
Fig. 4 is the wireless signal radio frequency chip initialization flowchart of example of the present invention.
Fig. 5 is the address transition mapping table of the multiprotocol conversion system of example of the present invention.
Embodiment
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.Following examples are used for illustrating the present invention, but are not used for limiting the scope of the invention.
Below in conjunction with accompanying drawing, a preferred embodiment of the present invention is described:
As shown in Figure 1, a kind of multiprotocol conversion equipment that the wireless ZigBee-network based on IEEE802.15.4 standard is incorporated into CAN bus and MODBUS/TCP Industrial Ethernet that the present invention realizes, this equipment comprises MODBUS/TCP slave station, ZigBee is wireless main website, CAN bus master; Wherein microprocessor is selected the control centre of STM32F107 chip as equipment, connects ZigBee wireless signal radio frequency chip CC2530 by USART, is connected with output bus RX by input bus TX with CAN controller SN65VHD230 chip; Ethernet physical interface is selected the physical chip of DP83848 chip as equipment, by RJ45 network interface and long-range MODBUS/TCP master station communication.
Microprocessor, as the control centre of equipment, by the program of definition application layer, is realized parsing and the distribution of message information between different agreement.Microprocessor of the present invention is selected STM32F107 family chip, has abundant storage resources and kernel framework efficiently.Tape program memory (SRAM), flash memory program storage (FLASH), clock, reset etc. in STM32 microcontroller, the digital to analog converter of 2 12,7 timers and 9 communication interfaces etc.The power consumption control performance that STM32 microcontroller is outstanding, not only greatly reduces the power consumption of microprocessor, has also improved the operating efficiency of equipment.
Microprocessor connects the wireless signal radio frequency chip CC2530 of ZigBee main website by USART, and by the master-slave communication of wireless ZigBee-network realization and other radio node.CC2530 is the less radio-frequency terminal that can move Zigbee agreement, has advantages of that data-handling efficiency is high, accuracy is high, can coordinate the radio-frequency front-ends such as power amplifier, improves receiving sensitivity and the transmitting power of chip.The physics of ZigBee physical layer protocol stack, MAC layer are IEEE802.15.4 agreement.IEEE802.15.4 physical layer has defined 868MHz, 915MHz, tri-frequency ranges of 2.4GHz, and user can select applicable transfer of data frequency range and traffic rate according to concrete requirement.
Microprocessor is connected the CAN controller SN65VHD230 chip of CAN bus master with output bus RX by input bus TX, realize master-slave communication as CAN bus master and other equipment of realizing in CAN bus.
Microprocessor STM32F107 family chip comprises ethernet mac layer controller, and wherein Ethernet physical interface is selected the physical chip of DP83848 chip as equipment, by MII interface access microprocessor.Equipment of the present invention is as the slave station of MODBUS/TCP, by the MODBUS/TCP master-slave communication of the realization of RJ45 network interface and remote computer.DP83848 chip can provide 10/100Mb/s data rate, and not only low in energy consumption, single channel at a high speed, cost performance is high, also has general network interface, can simplify hardware and software development flow process.
A kind of wireless ZigBee-network based on IEEE802.15.4 standard that the present invention realizes is as shown in Figure 2 incorporated into multiprotocol conversion equipment and its implementation of CAN bus and MODBUS/TCP Industrial Ethernet, the method comprises: realize the ZigBee master-slave communication based on IEEE802.15.4 standard by the wireless main website of ZigBee, realize the communication of CAN bus master-salve station by CAN bus polling mode, by the communication of MODBUS/TCP slave station memory field Mapping implementation MODBUS/TCP, and realize the conversion of data between three agreements by setting up address transition map section.The main program flow of equipment is as follows:
(1) microprocesser initialization;
(2) microprocessor reads in network configuration parameters by RS232 interface;
(3) the wireless master station module initialization of ZigBee;
(4) CAN bus master module initialization;
(5) MODBUS slave station module initialization;
(6) for address transition is opened up structure array, according to network configuration parameters, to the initialization of address transition mapping table;
(7) ZigBee main website poll and protocol conversion;
(8) CAN bus master poll and protocol conversion;
(9) master-slave communication of MODBUS/TCP slave station and remote computer;
(10) return to step (7), loop.
As shown in Figure 3, before MODBUS slave station module starts normal work, need to carry out initialization to DP83848 Ethernet physical interface chip, comprise the MII interface of initialization STM32 microprocessor, DP83848 Ethernet physical interface chip then resets.By the MDIO interface initialization DP83848 Ethernet physical interface chip of STM32, configuration mode control register, the reception/transmission that enables MII interface is interrupted.Finally enter agreement main program, MODBUS/TCP slave station module is normally worked.Concrete initialized step is as follows;
(1) the MII interface of initialization STM32 microprocessor;
(2) by microprocessor reset DP83848 ethernet physical layer interface chip;
(3) by the MDIO interface initialization DP83848 ethernet physical layer interface chip of microprocessor, the mode register in configuration ethernet physical layer interface chip;
(4) interrupt by the reception/transmission of microprocessor enable data;
(5) enter MODBUS/TCP agreement entry program, make MODBUS/TCP slave station enter normal operating conditions, set up master-slave communication by Ethernet and remote computer.
As shown in Figure 4, before the normal work of the wireless master station module of ZigBee, need to carry out initialization to wireless signal radio frequency chip CC2530, comprise the USART interface of initialization STM32F107 chip, reset wireless signal radio frequency chip CC2530, enables chip internal clock, the access mode of configuration register, the receiving and dispatching mechanism of setting data, verification mode, enables to receive/send interruption etc.Finally start wireless signal radio frequency chip CC2530, make main website start normal operation.Concrete initialization step is as follows:
(1) the USART interface of initialization STM32F107 chip is by microprocessor reset wireless signal radio frequency chip CC2530;
(2) wireless signal radio frequency chip internal clocking enables, the access mode of register in configuration wireless signal radio frequency chip, and setting data receiving and dispatching mechanism, enabled wireless receives/sends interruption etc.;
(3) by each parameter of application configuration wireless signal radio frequency chip;
(4) start wireless signal radio frequency chip CC2530 wireless receiving and dispatching, wireless main website enters normal operating condition.
After the normal work of master station module that ZigBee is wireless, master station module that ZigBee is wireless automatically and other wireless ZigBee equipment connect, form the wireless ZigBee-network of master-slave communication, radio communication address and the actual node address of the secondary radio station equipment active reporting oneself of network internal, to set up address mapping relation at protocol conversion device internal memory.
As shown in Figure 5, the realization of the address transition mapping table of opening up for multiprotocol conversion in the present invention: itself does not possess actual physical address protocol conversion device of the present invention, but realizes the transmission of data between different agreement by setting up a multi-protocols address mapping table.In MODBUS communication, distinguish distinct device with MODBUS station number, be to distinguish distinct device by ZigBee-network address in ZigBee-network, and in CAN bus transfer, be reception and transmission that the indications of identifying message information realizes data.By setting up address mapping table, can make equipment between heterogeneous networks realize the transmission of data with a unified logical address.
After the normal work of MODBUS slave station module, set up MODBUS/TCP master-slave communication by Ethernet and remote computer, by network configuration parameters, in ATT, pre-deposit MODBUS slave node address simultaneously.As Fig. 5 (a) (b) as shown in, suppose that current MODBUS slave node address is 0X01-0X0C.
ZigBee wireless network is set up after master-slave communication by the wireless on-net location of equipment, by the actual address parameter in reading address encoder, secondary radio station node in wireless network distributes actual node identification address, makes each secondary radio station node have unique actual node identification address.And corresponding one by one with MODBUS slave node address.Before the wireless main website of ZigBee starts that slave station is carried out to data polling, need to be according to the address of slave node in ZigBee-network, upgrade the address transition map section in microprocessor, set up between ZigBee slave node address and MODBUS slave node address relation one to one, as shown in Fig. 5 (a).
Equipment in CAN bus is by the serial communication bus of a CAN-bus(multiple host pattern) realize transfer of data, in message, do not send the destination address of source address and the reception data of data, but come function information and the priority information of designation data by identifier.In the present invention, CAN bus is by having the CAN-bus expansion frame of 29 bit identifiers, employing redefines the expression mode of Frame function, realize the communication of CAN bus master-salve station with bus polling mode, and set up in CAN bus between slave node address and MODBUS slave node address relation one to one, as shown in Fig. 5 (b).
The process that realizes the transmission of data between different agreement by address transition mapping table is as follows: remote computer is sent to microprocessor by the transfer instruction of data by Ethernet, in instruction, the source address of Frame and destination address are all with MODBUS slave node address definition, change MODBUS slave node address and ZigBee slave node address in mapping table by inquire address, and the corresponding relation of slave node address in MODBUS slave node address and CAN bus.Finally complete the transmission of data according to corresponding actual address.For example, if source address is shown 0X02 with MODBUS slave node address table in the Frame of transmission, changes mapping table learn by inquire address, the source address in Frame is the 0X0002 in ZigBee slave node address; If destination address is 0X0B in the Frame of transmission, change mapping table by inquire address and learn, the address of correspondence is that in CAN bus, slave node address is 0X0005, last can realize the transmission of Frame between heterogeneous networks.
Claims (2)
1. a multiprotocol conversion equipment that the wireless ZigBee-network based on IEEE802.15.4 standard is incorporated into CAN bus and MODBUS/TCP Industrial Ethernet, is characterized in that: this multiprotocol conversion equipment comprises: microprocessor, ZigBee is wireless main website, CAN bus master, MODBUS/TCP slave station, ethernet physical layer interface chip and RJ45 network interface; Described microprocessor is the control centre of whole equipment, adopt STM32F107 family chip, it comprises ethernet mac layer controller, CAN controller and USART serial interface, support Ethernet, CAN bus and the expansion of RS485 bus, can complete parsing and the distribution of information between different agreement; Described ZigBee is wireless, and main website adopts CC2530 radio frequency chip to complete the processing of wireless protocols, be connected with described microprocessor by USART serial interface, and write the control program of wireless main website, thereby set up a wireless master station module, realized wireless ZigBee-network is incorporated in the Industrial Ethernet of CAN bus master and MODBUS/TCP slave station; Described ethernet physical layer interface chip is selected the physical chip of DP83848 chip as equipment, by the described microprocessor of MII interface access, thereby and write described MODBUS/TCP slave station program and set up the slave station module of a MODBUS/TCP, realize and the MODBUS/TCP master-slave communication of remote computer by described RJ45 network interface;
Interface chip between described CAN controller and described CAN bus master is selected SN65VHD230 chip, is connected with output bus TX by input bus RX with CAN controller, realizes the master station module of a CAN bus master; Realize wireless ZigBee-network is incorporated in CAN bus and MODBUS/TCP Industrial Ethernet by the wireless main website of described ZigBee; Described CAN bus master, realizes the CAN bus network based on poll by definition application layer protocol communication mode.
2. one kind is incorporated into the wireless ZigBee-network based on IEEE802.15.4 standard the implementation method of the multiprotocol conversion of CAN bus and MODBUS/TCP Industrial Ethernet, adopt described a kind of multiprotocol conversion equipment that the wireless ZigBee-network based on IEEE802.15.4 standard is incorporated into CAN bus and MODBUS/TCP Industrial Ethernet to carry out protocol conversion, the method comprises: realize the ZigBee wireless telecommunications based on IEEE802.15.4 standard by the wireless main website of ZigBee, realize the communication of CAN bus master-salve station by CAN bus polling mode, by the communication of MODBUS/TCP slave station memory field Mapping implementation MODBUS/TCP, and by setting up address transition map section, by the conversion of data between three agreements of microcontroller implementation, its particular content comprises the steps:
The first step is by multiprotocol conversion device initialize:
(1) microprocesser initialization;
(2) microprocessor reads in network configuration parameters by RS232 interface;
(3) the wireless master station module initialization of ZigBee;
(4) CAN bus master module initialization;
(5) MODBUS slave station module initialization;
(6) for the address transition between different agreement is opened up structure array, according to network configuration parameters, to the initialization of address transition mapping table;
(7) ZigBee main website poll and protocol conversion;
(8) CAN bus master poll and protocol conversion;
(9) master-slave communication of MODBUS/TCP slave station and remote computer;
(10) return to step (7), loop.
Second step, by the application layer of the each agreement of definition, is set up a protocol conversion model in system, realizes Wireless/wired and has a protocol conversion between wire protocol; In this protocol conversion system, for realizing the seamless upgrade of fieldbus, the wireless ZigBee-network of definition based on IEEE802.15.4 standard and CAN bus have a main website of network communication separately, can be simultaneously and complete independently the poll of antithetical phrase node data in each automatic network; In order to realize the data message of two master access the other side slave stations, can in the internal memory of microprocessor, open up address transition map section, store in advance all child nodes in wireless ZigBee-network and CAN bus with other network services time corresponding address information; In MODBUS/TCP Industrial Ethernet network, multiprotocol conversion equipment and remote computer composition MODBUS master-Slave Protocol stack, multiprotocol conversion equipment is realized the data query to child node in wireless ZigBee-network and CAN bus as transparent slave station by the control command that receives host computer;
Described transparent slave station refers to that multiprotocol conversion equipment itself does not possess MODBUS tributary address identifying information, and the address information that equipment carries for long-range main website, carries out corresponding parsing and forwarding by address transition map section;
To complete between different agreement the method for exchanges data as follows by setting up address transition map section for the 3rd step:
When microprocessor starts initialization, reserved a part of internal memory is as address transition map section; In the time of ZigBee wireless network and the initialization of CAN bus network, in an address structure body array of address transition map section definition, and by network configuration parameters to address structure array through row initialization, set up address transition mapping table, the corresponding relation of address between definition ZigBee wireless network and CAN bus network network node: changing mapping table by inquire address, to complete the process of a data transfer as follows:
(1) first host computer sends to microcontroller by MODBUS/TCP network by control command, microcontroller is by resolving the Address Recognition information contrast address transition mapping table in MODBUS, contrast address transition mapping table judges this destination address is in which kind of sub-network, judge whether to need and by actual mailing address Reseal in control command;
(2) if the destination address that this instruction is pointed to points to ZigBee-network, send to the wireless main website of ZigBee by USART interface, ZigBee is wireless, and main website directly issues control command that corresponding child node is carried out to data processing;
If if the destination address that this instruction is pointed to belongs to the child node of CAN bus network, be directly forwarded to respective nodes by CAN bus control unit.
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