CN103840993A - Dual-redundancy CAN bus data transmission method - Google Patents

Dual-redundancy CAN bus data transmission method Download PDF

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Publication number
CN103840993A
CN103840993A CN201410117301.2A CN201410117301A CN103840993A CN 103840993 A CN103840993 A CN 103840993A CN 201410117301 A CN201410117301 A CN 201410117301A CN 103840993 A CN103840993 A CN 103840993A
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CN
China
Prior art keywords
data
bus
transmission
dual
uplink
Prior art date
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CN201410117301.2A
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Chinese (zh)
Inventor
王小军
李向阳
孙招凤
李�荣
梁财海
许进亮
Original Assignee
北京航天发射技术研究所
中国运载火箭技术研究院
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Priority to CN201320623831.5 priority Critical
Priority to CN201320623831 priority
Application filed by 北京航天发射技术研究所, 中国运载火箭技术研究院 filed Critical 北京航天发射技术研究所
Priority to CN201410117301.2A priority patent/CN103840993A/en
Publication of CN103840993A publication Critical patent/CN103840993A/en

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Abstract

The invention provides a dual-redundancy CAN bus data transmission method in a dual-redundancy CAN bus network based on the dual-redundancy channel data synchronous transmission and reception technology in order to improve real-time performance of data transmission and reduce delay difference of data transmitted in two channels. The dual-redundancy CAN bus data transmission method comprises the following steps of (1) organizing data to be transmitted and classifying the data from high to low according to predetermined priority of transmission real-time performance; (2) allocating different information identifiers to the data classified in the step (1); (3) writing the data in two CAN controllers simultaneously. By means of the dual-redundancy CAN bus data transmission method, no complex channel switch detection method in the prior art is needed, communication reliability of the CAN bus is improved further, and delay difference of the same data transmitted in two channels is reduced.

Description

A kind of dual-redundant CAN bus data transmission method for uplink
Technical field
The invention belongs to data communication technology field, more specifically, relate to a kind of dual-redundant CAN bus data transmission method for uplink.
Background technology
CAN bus has standard frame and two kinds of frame types of expansion frame, and standard frame adopts the identifier of 11, and expansion frame adopts the identifier of 29.The frame type of dual-redundant CAN bus network can be standard frame, also can be expansion frame.The Frame of CAN bus is mainly made up of arbitration field, controlling filed and data fields.Arbitration is made up of CAN message identifier, and CAN message identifier is for characterizing the function of this message, and it is that passage detects frame that the CAN message identifier that for example passage detects frame is used for characterizing this Frame, simultaneously to the CAN effect of arbitrating of communicate by letter.Data fields is carried CAN message data.
While applying the control network of traditional single CAN bus, there is sometimes some inefficacy link, such as backbone fault, branch line fault, drive circuit fault etc.Therefore, dual-redundant CAN bus network can overcome above-mentioned shortcoming well.
At this point, applicant has carried out the application study of dual-redundant CAN bus network, successively attempts having adopted two redundant channel hot-swap technology and two redundant channels data with sending out with receipts technology.
Two redundant channel hot-swap technology are using a passage of dual-redundant CAN bus as service aisle, another one passage Hot Spare.In the time that 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, identifies fault.
Two redundant channels data with send out with receipts technology be using two passages of dual-redundant CAN bus all as service aisle, identical data transmit on two passages simultaneously, as long as there have channel data to transmit to be unobstructed, just think working properly.
But, in prior art, there is no for the effective solution sending with the data of a dual-redundant CAN bus network with receipts technology.Chinese patent application CN201110169089.0 discloses a kind of CAN network data sending method, comprising: the sending order of setting respectively all CAN nodes in CAN network; All CAN nodes send information to other all CAN nodes successively according to the sending order of setting separately, overcome multiple CAN nodes in existing CAN network and sent information to a CAN node simultaneously, but the real-time that data send is poor.
Summary of the invention
Poor in the delay of two channel transfer in order to improve the real-time of transfer of data and to reduce data, the present invention is based on two redundant channels data provides one to realize the method that dual-redundant CAN bus data send in dual-redundant CAN bus network (or claiming dual-redundant CAN bus communication system) with sending out with receipts technology.
Two CAN buses that described dual-redundant CAN bus network comprises a processor and is connected with this processor, are all connected with CAN bus control unit and CAN bus driver in turn in two CAN buses, communication data sends in described two CAN buses simultaneously.
Described data transmission method for uplink comprises the steps:
(1) arrange to sent data, and from high to low data are classified according to predetermined transmission real-time priority;
(2) the different message identifier of data allocations for obtaining after the classification of step (1);
(3) simultaneously to two CAN controller data writings, the transmission of log-on data.
Further, between described step (2) and step (3), also comprise: the message identifier of data to be sent, data length, data are packaged into frame data, and these frame data are sent into transmit queue, described transmit queue is for temporary multiframe data to be sent, and described transmit queue is directly also simultaneously to two CAN controller data writings.
Further, described step (3) comprises that described processor writes transmission data to described two CAN controllers simultaneously, and starts CAN bus driver and carry out data transmission.
Further, the described data that obtain after the classification of step (1) comprise: fault information data, passage detect information data, control command information data, configuration-direct information data, procedural information data and node status information data.
Further, in step (2), described data are carried out the distribution of message identifier from high to low according to priority.
Beneficial effect of the present invention is as follows: on dual-redundant CAN bus communication system, the present invention is based on two redundant channels data and realize data transmission with sending out with receipts technology, do not need passage switching detection method complicated in prior art, and can further improve the reliability of CAN bus communication.In addition,, simultaneously to two CAN controller data writings, log-on data sends, and has reduced transmission delay when identical data sends in two buses.
Accompanying drawing explanation
Fig. 1 is dual-redundant CAN bus network diagram according to an embodiment of the invention;
Fig. 2 is CAN Interface Expanding schematic diagram according to an embodiment of the invention;
Fig. 3 is the flow chart of dual-redundant CAN bus data transmission method for uplink according to an embodiment of the invention.
Embodiment
As shown in Figure 1-2, structure and the CAN Interface Expanding schematic diagram of dual-redundant CAN bus network according to an embodiment of the invention have been described.
On hardware, dual-redundant CAN bus uses 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 a preferred embodiment, dual-redundant CAN bus BUS A, the BUS B adopting requires to use identical two cover CAN equipment, thereby realizes the isolation of 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.
In the course of work, when transmission, can send same group of data by two bus B US A, BUS B; When 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 a preferred embodiment, double-redundancy CAN interface card 1-1 and 1-2 all adopt SJAl000.Two double-redundancy CAN interface card 1-1 and 1-2 provide the independently 8 bit address/data/address bus of CAN interface, CAN bus control chip of two-way altogether, and read-write control signal is also provided.SJAl000 output signal connects CAN transceiver PCA82C250 through optocoupler, and PCA82C250 power supply is insulating power supply, is provided by isolated power transfer module.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, double-redundancy CAN interface card 1-1 and 1-2 adopt VXWorks exploitation to drive.A high-performance on target machine, the embedded hard real time operating system that can reduce of operating in that VXWorks operating system Shi Feng 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 take 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 equipment difference, can select corresponding standard driving model or make CAN module by oneself is serial device, design alternative standard serial device Driver Model.
The data transmission method for uplink providing is according to one embodiment of present invention the CAN interface of dual-redundant CAN bus network based on above-mentioned Fig. 1 and Fig. 2, as shown in the flow chart of Fig. 3, specifically comprises the steps:
Step 100: arrange to sent data, and from high to low data are classified according to predetermined transmission real-time priority, obtain detecting the several data information data, control command information data, configuration-direct information data, procedural information data and node status information data including fault information data, passage.
Step 200: be the different message identifier of data allocations obtaining after the classification of step (1).These data are carried out the distribution of message identifier from high to low according to priority.Step 300: simultaneously to two CAN controller data writings, the transmission of log-on data.According to a preferred embodiment of the present invention, in this step, described processor writes transmission data to described two CAN controllers simultaneously, and starts CAN bus driver and carry out data transmission.
In another preferred embodiment, between above-mentioned steps (2) and step (3), also comprise: the message identifier of data to be sent, data length, data are packaged into frame data, and these frame data are sent into transmit queue, described transmit queue is for temporary multiframe data to be sent, and described transmit queue is directly also simultaneously to two CAN controller data writings.Like this, multiframe data and CAN hardware to be sent are directly come into contacts with, and have evaded the time delay that other links cause.This mode can guarantee that the delay that binary channels data that sequencing control etc. causes send drops to minimum.
Above each 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 departing 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 (5)

1. send out together the data transmission method for uplink with receipts technology at dual-redundant CAN bus network based on two redundant channels data for one kind, two CAN buses that described dual-redundant CAN bus network comprises a processor and is connected with this processor, article two, in CAN bus, be all connected with CAN bus control unit and CAN bus driver in turn, communication data sends in described two CAN buses simultaneously, it is characterized in that, described data transmission method for uplink comprises the steps:
(1) arrange to sent data, and from high to low data are classified according to predetermined transmission real-time priority;
(2) the different message identifier of data allocations for obtaining after the classification of step (1);
(3) simultaneously to two CAN controller data writings, the transmission of log-on data.
2. data transmission method for uplink according to claim 1, it is characterized in that, between described step (2) and step (3), also comprise: the message identifier of data to be sent, data length, data are packaged into frame data, and these frame data are sent into transmit queue, described transmit queue is for temporary multiframe data to be sent, and described transmit queue is directly also simultaneously to two CAN controller data writings.
3. data transmission method for uplink according to claim 1 and 2, is characterized in that, described step (3) comprises that described processor writes transmission data to described two CAN controllers simultaneously, and starts CAN bus driver and carry out data transmission.
4. data transmission method for uplink according to claim 1 and 2, it is characterized in that, the described data that obtain after the classification of step (1) comprise: fault information data, passage detect information data, control command information data, configuration-direct information data, procedural information data and node status information data.
5. data transmission method for uplink according to claim 1 and 2, is characterized in that, in step (2), described data are carried out the distribution of message identifier from high to low according to priority.
CN201410117301.2A 2013-10-10 2014-03-26 Dual-redundancy CAN bus data transmission method CN103840993A (en)

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CN201320623831.5 2013-10-10
CN201320623831 2013-10-10
CN201410117301.2A CN103840993A (en) 2013-10-10 2014-03-26 Dual-redundancy CAN bus data transmission method

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Cited By (9)

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CN104216360A (en) * 2014-08-06 2014-12-17 北京航天发射技术研究所 Universal method for synchronously controlling multiple controlled objects
CN104503350A (en) * 2014-12-26 2015-04-08 北京汽车股份有限公司 Dual-redundancy CAN (controller area network) bus realizing method and controller
CN105043367A (en) * 2015-09-09 2015-11-11 中船航海科技有限责任公司 Steering compass display device with alarming function based on dual-redundancy CAN
CN106789694A (en) * 2016-11-12 2017-05-31 驭联智能科技发展(上海)有限公司 Novel on-vehicle equipment communication control method and system
CN109639546A (en) * 2018-12-28 2019-04-16 浙江中控研究院有限公司 A kind of CAN bus based redundant system
CN109728985A (en) * 2017-10-30 2019-05-07 北京精密机电控制设备研究所 A kind of real-time redundant communication system based on RS422 and CAN bus isomery
CN110351170A (en) * 2018-04-03 2019-10-18 安徽工程大学 Intelligent voice system under a kind of dual CAN bus redundancy structure mine
CN110901568A (en) * 2019-12-04 2020-03-24 东风汽车集团有限公司 Novel vehicle-mounted network with redundancy backup function
CN111301318A (en) * 2020-02-28 2020-06-19 深圳市点蓝新能源技术有限公司 Vehicle double-path CAN communication method and system

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Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104216360A (en) * 2014-08-06 2014-12-17 北京航天发射技术研究所 Universal method for synchronously controlling multiple controlled objects
CN104216360B (en) * 2014-08-06 2017-09-08 北京航天发射技术研究所 Realize the universal method of many control object Synchronization Controls
CN104503350A (en) * 2014-12-26 2015-04-08 北京汽车股份有限公司 Dual-redundancy CAN (controller area network) bus realizing method and controller
CN104503350B (en) * 2014-12-26 2017-09-12 北京汽车股份有限公司 The implementation method and controller of dual-redundant CAN bus
CN105043367A (en) * 2015-09-09 2015-11-11 中船航海科技有限责任公司 Steering compass display device with alarming function based on dual-redundancy CAN
CN106789694A (en) * 2016-11-12 2017-05-31 驭联智能科技发展(上海)有限公司 Novel on-vehicle equipment communication control method and system
CN109728985A (en) * 2017-10-30 2019-05-07 北京精密机电控制设备研究所 A kind of real-time redundant communication system based on RS422 and CAN bus isomery
CN110351170A (en) * 2018-04-03 2019-10-18 安徽工程大学 Intelligent voice system under a kind of dual CAN bus redundancy structure mine
CN109639546A (en) * 2018-12-28 2019-04-16 浙江中控研究院有限公司 A kind of CAN bus based redundant system
CN110901568A (en) * 2019-12-04 2020-03-24 东风汽车集团有限公司 Novel vehicle-mounted network with redundancy backup function
CN111301318A (en) * 2020-02-28 2020-06-19 深圳市点蓝新能源技术有限公司 Vehicle double-path CAN communication method and system

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