CN103957145B - CAN repeater and its data relay method with dual master control module - Google Patents
CAN repeater and its data relay method with dual master control module Download PDFInfo
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Abstract
The present invention relates to CAN data relay transmission engineering device technique field, it is a kind of CAN repeater with dual master control module and its data relay method, it includes data and reads in interface, RAM module, the first latch, the second latch, the first main control module, the second main control module, the first CAN interface, the second CAN interface, parallel serial conversion module and data output interface；Wherein the first main control module is while the data of the first latch storage are forwarded, and the second main control module is forwarding the data of the second latch storage.Reasonable and compact in structure of the present invention, it is easy to use, it by single master control architecture of existing CAN repeater by being changed to dual master control structure, parallel processing is carried out to data queue, the fast-forwarding realized to interim data is interlocked between two main control modules using intercommunication mechanism and bus, both avoid data transmission collision, at the same improve data transmission efficiency, with it is safe, reliable, efficient the characteristics of.
Description
Technical field
It is a kind of CAN with dual master control module the present invention relates to CAN data relay transmission engineering device technique field
Repeater and its data relay method.
Background technology
Current CAN is because development cost is low, bus utilization is high, long transmission distance (farthest up to 10 kms), biography
Defeated speed is high, has been widely applied in each automation control system, such as automotive electronics, automatically control, intelligent building, electric power
The fields such as system, safety monitoring.With the expansion of CAN network area, the immediate data between two nodes is transmitted difficulty
To meet telecommunication requirement.CAN repeaters are the terminal for extending CAN communication distance, its communication efficiency and communication
Reliability directly affects the communication capacity of CAN.Existing CAN repeaters reliability and data forwarding energy based on single master control
Power is relatively low, it is difficult to meet the transfer requirement of mass data.
The content of the invention
The invention provides a kind of CAN repeater with dual master control module and its data relay method, overcome
The deficiency of prior art is stated, it can effectively solve the existing CAN repeater poor reliability based on single master control, data forwarding energy
Power is relatively low, can not meet the problem of mass data is conveyed.
One of technical scheme is realized by following measures：A kind of CAN with dual master control module
Repeater, including data read in interface, for reading in the data that CAN is transmitted；
RAM module, the data of interface input are read in for data storage；
First latch, the first queue data for RAM module to be exported are latched；
Second latch, the second queue data for RAM module to be exported are latched；
First main control module, the data for forwarding the storage of the first latch；
Second main control module, the data for forwarding the storage of the second latch；
First CAN interface, for transmitting the data that the first main control module is forwarded；
Second CAN interface, for transmitting the data that the second main control module is forwarded；
Parallel serial conversion module, the data transmitted for the data for transmitting the first CAN interface and the second CAN interface are sequentially closed
And together；
Data output interface, for the data output after the merging of being transmitted parallel serial conversion module；
Wherein the first main control module is while the data of the first latch storage are forwarded, and the second main control module is in forwarding the
The data of two latch storage.
Here is the further optimization and/or improvements to one of foregoing invention technical scheme：
Above-mentioned data read in interface, RAM module, the first latch, the second latch, the first master control mould
Block, the second main control module, the first CAN interface, the second CAN interface, parallel serial conversion module and data output interface can be fixed on master
On circuit board, the signal output part and the signal input part of RAM module that data read in interface are electrically connected, twoport
The signal input part of the first signal output part and the first latch of RAM memory module is electrically connected, the letter of the first latch
Number output end and the first signal input part of the first main control module are electrically connected, the signal output part of the first main control module and first
The signal input part of CAN interface is electrically connected, the secondary signal output end of RAM module and the letter of the second latch
Number input is electrically connected, and the first signal input part of the signal output part of the second latch and the second main control module is mutually electrically connected
Connect, the signal input part of the signal output part of the second main control module and the second CAN interface is electrically connected, the letter of the first CAN interface
The first signal input part and secondary signal of the signal output part of number output end and the second CAN interface respectively with parallel serial conversion module
Input is electrically connected, and the signal output part of parallel serial conversion module and the signal input part of data output interface are electrically connected；The
The COM1 of the COM1 of one main control module and the second main control module is electrically connected, and the secondary signal of the first main control module is defeated
Enter end and the signal output part of the second latch is electrically connected, the secondary signal input and the first latch of the second main control module
Signal output part be electrically connected.
Above-mentioned first main control module and the second main control module can be micro-control unit MCU or programmable logic controller (PLC) PLC
Or dsp chip or fpga chip or arm processor.
The two of technical scheme are realized by following measures：It is a kind of using above-mentioned with dual master control module
The data relay method of CAN repeater：Data are read in into interface first and the output port of up CAN is mutually electrically connected
Connect, data output interface and the input port of descending CAN are electrically connected；Then, CAN repeater starts according to following
Step is operated：
The first step：Data read in the signal that is sent of the up CAN of interface and are transferred to RAM mould
The signal of reception is sent respectively to the first latch and the second latch by block, RAM module according to field, wherein
First latch receives first queue data and latched, and the second latch receives second queue data and latched；
Second step：Queue pointer's signal is sent respectively to the first main control module and the second master by RAM module
Control module；
3rd step：First main control module sends initialization information to the second main control module, and the second main control module is being received just
Confirmation is replied to the first main control module after beginningization information, the first main control module is after confirmation is received, the first master control mould
Block and the second main control module both sides set up communication；
4th step：Whether there is number in first main control module and second the first latch of master control module judges and the second latch
According to be sent, wherein：For the first main control module, the first main control module is by first if having data to be sent in the first latch
A frame data in queuing data are sent to the first CAN interface and enter the 5th step, if not having data needs in the first latch
Send and then return to the 3rd step；At the same time, for the second main control module, the second master if having data to be sent in the second latch
A frame data in second queue data are sent to the second CAN interface and enter the 5th step by control module, if in the second latch
There is no data to need to send then the 3rd step of return；
5th step：The data of reception are sent to parallel-serial conversion by the first CAN interface and the second CAN interface according to data address
Module；
6th step：The data of reception are sequentially merged and and must send number to by parallel serial conversion module according to data address
According to output interface, data output interface sends the data-signal of reception to descending CAN；
7th step：The signal for having sent a frame data is sent to the second master control by the first main control module by communication interface
Module, and the data address of the frame data in transmitted first queue data is issued into the second main control module；Second master control
The signal for having sent a frame data is sent to the first main control module by module by communication interface, and by the second transmitted team
The data address of a frame data in column data issues the first main control module；
8th step：First main control module deposits the inside that the data address received in the 7th step is stored in the first main control module
Device, while the data address received in the 7th step is stored in the internal register of the second main control module by the second main control module；
9th step：First main control module and the second main control module judge again in the first latch and the second latch whether
There are data to be sent, wherein：For the first main control module, the first main control module will if having data to be sent in the first latch
The second frame data in first queue data are sent to the first CAN interface and enter the 5th step by queue pointer's modification of signal, if
There is no data to need to send then into the 3rd step in first latch；At the same time, for the second main control module, if second latches
There is data then the second main control module to be sent in device by queue pointer's modification of signal, by the second frame data in second queue data
It is sent to the second CAN interface and enters the 5th step, enters the 3rd step if not having data to need to send in the second latch.
Tenth step：For RAM module, if being still stored with data to be sent in RAM module
Then continue the signal of reception being sent respectively to the first latch and the second latch according to field, wherein the first latch is received
3rd queuing data is simultaneously latched, and the second latch receives the 4th queuing data and latched, afterwards RAM
Module enters second step；If not having data to be sent in RAM module, data read in the up CAN of interface
New signal that bus is sent simultaneously is transferred to RAM module, and RAM module enters first afterwards
Step, until data, which read in interface, no longer receives new signal.
Reasonable and compact in structure of the present invention, easy to use, it is by the way that single master control architecture of existing CAN repeater is changed
For dual master control structure, data queue is carried out real using intercommunication mechanism and bus interlocking between parallel processing, two main control modules
Now to the fast-forwarding of interim data, both avoid data transmission collision, at the same improve data transmission efficiency, with safety, can
Lean on, it is efficient the characteristics of.
Brief description of the drawings
Accompanying drawing 1 is the logical construction schematic diagram of the embodiment of the present invention one.
Accompanying drawing 2 is the data transmission flow figure of the embodiment of the present invention one.
Coding in accompanying drawing is respectively：1 is that data read in interface, and 2 be RAM module, and 3 be the first latch
Device, 4 be the second latch, and 5 be the first main control module, and 6 be the second main control module, and 7 be the first CAN interface, and 8 be that the 2nd CAN connects
Mouthful, 9 be parallel serial conversion module, and 10 be data output interface.
Embodiment
The present invention is not limited by following embodiments, can technique according to the invention scheme and actual conditions it is specific to determine
Embodiment.
One of technical scheme is further described with reference to embodiment and accompanying drawing：
Embodiment one：As shown in Figure 1, the CAN repeater with dual master control module includes data reading interface 1,
For reading in the data that CAN is transmitted；RAM module 2, the number that interface 1 is inputted is read in for data storage
According to；First latch 3, the first queue data for RAM module 2 to be exported are latched；Second latch
4, the second queue data for RAM module 2 to be exported are latched；First main control module 5, for forwarding the
The data of one latch 3 storage；Second main control module 6, the data for forwarding the storage of the second latch 4；First CAN interface 7,
For transmitting the data that the first main control module 5 is forwarded；Second CAN interface 8, is forwarded for transmitting the second main control module 6
Data；Parallel serial conversion module 9, the data transmitted for the data for transmitting the first CAN interface 7 and the second CAN interface 8 are sequentially closed
And together；Data output interface 10, for the data output after the merging of being transmitted parallel serial conversion module 9；Wherein first
Main control module 5 is while the data of the first latch 3 storage are forwarded, and the second main control module 6 is stored in the second latch 4 of forwarding
Data.The problem of present invention solves CAN repeater reliability and relatively low data forwarding capability under single master control, will be existing
The single master control architecture for having CAN repeater is changed to dual master control structure, parallel processing is carried out to data queue, in the transmission of data
With reception simultaneously, quick turn to interim data is realized between two MCU micro-control units using intercommunication mechanism and bus interlocking
Hair, both avoids data transmission collision, while improving data transmission efficiency.
The above-mentioned CAN repeater with dual master control module further can be optimized or/and be changed according to actual needs
Enter：
As shown in Figure 1, data read in interface 1, RAM module 2, the first latch 3, the second latch 4,
First main control module 5, the second main control module 6, the first CAN interface 7, the second CAN interface 8, parallel serial conversion module 9 and data output
Interface 10 is fixed on main circuit board 11 on which, and data read in the signal output part of interface 1 and the signal of RAM module 2
Input is electrically connected, the signal input part phase of the first signal output part of RAM module 2 and the first latch 3
Electrical connection, the first signal input part of the signal output part of the first latch 3 and the first main control module 5 is electrically connected, the first master
The signal input part of signal output part and the first CAN interface 7 for controlling module 5 is electrically connected, and the of RAM module 2
Binary signal output end and the signal input part of the second latch 4 are electrically connected, the signal output part of the second latch 4 and the second master
First signal input part of control module 6 is electrically connected, the signal of the signal output part of the second main control module 6 and the second CAN interface 8
Input is electrically connected, the signal output part of the signal output part of the first CAN interface 7 and the second CAN interface 8 respectively with and go here and there and turn
The first signal input part and secondary signal input for changing the mold block 9 are electrically connected, the signal output part and number of parallel serial conversion module 9
It is electrically connected according to the signal input part of output interface 10；The communication of the COM1 of first main control module 5 and the second main control module 6
Port is electrically connected, and the signal output part of the secondary signal input of the first main control module 5 and the second latch 4 is electrically connected,
The signal output part of the secondary signal input of second main control module 6 and the first latch 3 is electrically connected.
As shown in Figure 1, the first main control module 5 and the second main control module 6 are micro-control unit MCU or FPGA control
Device PLC or dsp chip or fpga chip or arm processor processed.The present invention is micro- by the single MCU of existing CAN repeater
Control unit is changed to two MCU micro-control units, and realize the first MCU micro-control units 3 and the 2nd MCU micro-control units 4 it
Between communicate mechanism, by two MCU micro-control units simultaneously to data carry out fast-forwarding, improve data forwarding effect
Rate.
Above technical characteristic constitutes embodiments of the invention, and it has stronger adaptability and implementation result, can basis
The non-essential technical characteristic of increase and decrease is actually needed, to meet the demand of different situations.
It is further described with reference to embodiment and accompanying drawing to the two of technical scheme：
As shown in accompanying drawing 1,2, the data relay method of the above-mentioned CAN repeater with dual master control module is used：First
Data are read in into interface 1 and the output port of up CAN is electrically connected, data output interface 10 and descending CAN
Input port is electrically connected；Then, CAN repeater starts to follow the steps below work：
The first step：Data read in interface 1 and receive signal that up CAN sent and be transferred to RAM
The signal of reception is sent respectively to the first latch 3 and the second latch by module 2, RAM module 2 according to field
4, wherein the first latch 3 receives first queue data and latched, the second latch 4 receives second queue data and carried out
Latch；
Second step：Queue pointer's signal is sent respectively to the first main control module 5 and second by RAM module 2
Main control module 6；
3rd step：First main control module 5 sends initialization information to the second main control module 6, and the second main control module 6 is being received
Confirmation is replied to the first main control module 5 after initialization information, the first main control module 5 is after confirmation is received, the first master
Control the both sides of 5 and second main control module of module 6 and set up communication；
4th step：First main control module 5 and the second main control module 6 judge in the first latch 3 and the second latch 4 whether
There are data to be sent, wherein：For the first main control module 5, first main control module if having data to be sent in the first latch 3
A frame data in first queue data are sent to the first CAN interface 7 and enter the 5th step by 5, if not having in the first latch 3
Data, which need to send, then returns to the 3rd step；At the same time, for the second main control module 6, if having data pending in the second latch 4
Send, the frame data in second queue data are sent to the second CAN interface 8 and enter the 5th step by the second main control module 6, if
There is no data to need to send then the 3rd step of return in second latch 4；
5th step：The data of reception are sent to and gone here and there by the first CAN interface 7 and the second CAN interface 8 according to data address to be turned
Change the mold block 9；
6th step：The data of reception are sequentially merged and must and sent to by parallel serial conversion module 9 according to data address
Data output interface 10, data output interface 10 sends the data-signal of reception to descending CAN；
7th step：The signal for having sent a frame data is sent to the second master by the first main control module 5 by communication interface
Module 6 is controlled, and the data address of the frame data in transmitted first queue data is issued into the second main control module 6；Second
The signal for having sent a frame data is sent to the first main control module 5 by main control module 6 by communication interface, and will be transmitted
The data address of a frame data in second queue data issues the first main control module 5；
8th step：First main control module 5 posts the inside that the data address received in the 7th step is stored in the first main control module 5
Storage, while the data address received in the 7th step is stored in the internal register of the second main control module 6 by the second main control module 6；
9th step：First main control module 5 and the second main control module 6 judge in the first latch 3 and the second latch 4 again
Whether there are data to be sent, wherein：For the first main control module 5, first master control if having data to be sent in the first latch 3
The second frame data in first queue data are sent to the first CAN interface 7 and entered by queue pointer's modification of signal by module 5
5th step, enters the 3rd step if not having data to need to send in the first latch 3；At the same time, for the second main control module
6, second main control module 6 is by queue pointer's modification of signal if having data to be sent in the second latch 4, by second queue data
In the second frame data be sent to the second CAN interface 8 and enter the 5th step, if do not have in the second latch 4 data need transmission
Then enter the 3rd step.
Tenth step：For RAM module 2, if being still stored with number to be sent in RAM module 2
According to then continuing the signal of reception being sent respectively to the first latch 3 and the second latch 4 according to field, wherein the first latch
3 the 3rd queuing datas of reception are simultaneously latched, and the second latch 4 receives the 4th queuing data and latched, afterwards dual port RAM
Memory module 2 enters second step；If not having data to be sent in RAM module 2, data are read in interface 1 and connect
Receive new signal that up CAN sent and be transferred to RAM module 2, afterwards RAM module
2 enter the first step, until data, which read in interface 1, no longer receives new signal.
The real data transfer the performance test results of CAN repeater of the invention with dual master control module are as follows：
By being tested under high data payload, read in short distance to the data of the CAN repeater with dual master control module
Incoming interface loads 10 000 frame data, tests the situation of the successful interim data of the CAN repeater with dual master control module,
It is successful transfer frame number that it, which the results are shown in Table data in 1, table,.
Provided according to CAN, its Rate of average load is no more than 65%, traditional single MCU CAN repeater average loads
Rate is extremely difficult to 60%.As it can be seen from table 1 greatly improved using double MCU data relay performance of the present invention, can be in load factor
Steady operation in the case of more than 60%.
In summary, the CAN repeater of dual port RAM is coordinated using double MCU, solving single MCU can not quickly be handled
The problem of CAN overload, the high speed forward and high reliability that can realize data is run, and obtains its performance and efficiency
Large increase.
Claims (2)
1. a kind of CAN repeater with dual master control module, it is characterised in that interface is read in including data, for reading in CAN
The data that bus is transmitted；
RAM module, the data of interface input are read in for data storage；
First latch, the first queue data for RAM module to be exported are latched；
Second latch, the second queue data for RAM module to be exported are latched；
First main control module, the data for forwarding the storage of the first latch；
Second main control module, the data for forwarding the storage of the second latch；
First CAN interface, for transmitting the data that the first main control module is forwarded；
Second CAN interface, for transmitting the data that the second main control module is forwarded；
Parallel serial conversion module, the data transmitted for the data for transmitting the first CAN interface and the second CAN interface sequentially merge
Together；
Data output interface, for the data output after the merging of being transmitted parallel serial conversion module；
Wherein the first main control module is while the data of the first latch storage are forwarded, and the second main control module is locked in forwarding second
The data of storage storage；
Wherein：
Data read in interface, RAM module, the first latch, the second latch, the first main control module, the second master
Control module, the first CAN interface, the second CAN interface, parallel serial conversion module and data output interface are fixed on main circuit board, number
It is electrically connected according to the signal output part and the signal input part of RAM module that read in interface, RAM mould
The signal input part of the first signal output part and the first latch of block is electrically connected, the signal output part of the first latch and
First signal input part of one main control module is electrically connected, the letter of the signal output part of the first main control module and the first CAN interface
Number input is electrically connected, the secondary signal output end of RAM module and the signal input part phase of the second latch
Electrical connection, the first signal input part of the signal output part of the second latch and the second main control module is electrically connected, the second master control
The signal input part of the signal output part of module and the second CAN interface is electrically connected, the signal output part of the first CAN interface and
The signal output part of two CAN interfaces is mutually electrically connected with the first signal input part and secondary signal input of parallel serial conversion module respectively
Connect, the signal output part of parallel serial conversion module and the signal input part of data output interface are electrically connected；First main control module
The COM1 of COM1 and the second main control module is electrically connected, the secondary signal input of the first main control module and the second lock
The signal output part of storage is electrically connected, the secondary signal input of the second main control module and the signal output part of the first latch
It is electrically connected；
First main control module and the second main control module be micro-control unit MCU or programmable logic controller (PLC) PLC or dsp chip or
Fpga chip or arm processor.
2. a kind of data relay method of the CAN repeater with dual master control module described in usage right requirement 1, its feature
It is data are read in into interface first and the output port of up CAN is electrically connected, data output interface and descending CAN is total
The input port of line is electrically connected；Then, CAN repeater starts to follow the steps below work：
The first step：Data read in the signal that is sent of the up CAN of interface and are transferred to RAM module,
The signal of reception is sent respectively to the first latch and the second latch by RAM module according to field, wherein the
One latch receives first queue data and latched, and the second latch receives second queue data and latched；
Second step：Queue pointer's signal is sent respectively to the first main control module and the second master control mould by RAM module
Block；
3rd step：First main control module sends initialization information to the second main control module, and the second main control module is receiving initialization
After information to the first main control module reply confirmation, the first main control module after confirmation is received, the first main control module and
Second main control module both sides set up communication；
4th step：Whether the first main control module in second the first latch of master control module judges and the second latch with having data to treat
Send, wherein：For the first main control module, the first main control module is by first queue if having data to be sent in the first latch
A frame data in data are sent to the first CAN interface and enter the 5th step, if not having data to need transmission in the first latch
Then return to the 3rd step；At the same time, for the second main control module, the second master control mould if having data to be sent in the second latch
A frame data in second queue data are sent to the second CAN interface and enter the 5th step by block, if not having in the second latch
Data, which need to send, then returns to the 3rd step；
5th step：The data of reception are sent to parallel-serial conversion mould by the first CAN interface and the second CAN interface according to data address
Block；
6th step：Parallel serial conversion module sequentially merges the data of reception according to data address that and must to send data to defeated
Outgoing interface, data output interface sends the data-signal of reception to descending CAN；
7th step：The signal for having sent a frame data is sent to the second master control mould by the first main control module by communication interface
Block, and the data address of the frame data in transmitted first queue data is issued into the second main control module；Second master control mould
The signal for having sent a frame data is sent to the first main control module by block by communication interface, and by transmitted second queue
The data address of a frame data in data issues the first main control module；
8th step：The data address received in 7th step is stored in the internal register of the first main control module by the first main control module,
The data address received in the 7th step is stored in the internal register of the second main control module by the second main control module simultaneously；
9th step：First main control module and the second main control module judge whether there is number in the first latch and the second latch again
According to be sent, wherein：For the first main control module, the first main control module is by queue if having data to be sent in the first latch
Signal-arm is changed, and the second frame data in first queue data are sent into the first CAN interface and enter the 5th step, if first
There is no data to need to send then into the 3rd step in latch；At the same time, for the second main control module, if in the second latch
There is data then the second main control module to be sent by queue pointer's modification of signal, the second frame data in second queue data are sent
To the second CAN interface and into the 5th step, enter the 3rd step if there is no data to need to send in the second latch；
Tenth step：For RAM module, if the data to be sent that are still stored with RAM module after
The continuous signal by reception is sent respectively to the first latch and the second latch according to field, wherein the first latch receives the 3rd
Queuing data is simultaneously latched, and the second latch receives the 4th queuing data and latched, afterwards RAM module
Into second step；If not having data to be sent in RAM module, data read in the up CAN of interface
The new signal that is sent simultaneously is transferred to RAM module, and RAM module enters the first step afterwards, directly
Interface, which is read in, to data no longer receives new signal.
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| CN2859942Y (en) * | 2005-12-21 | 2007-01-17 | 浙江大学 | Bus physical repeater of multi-path controller local area network |
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