CN104009901A - CAN repeater based on LPC1768 platform and data forwarding method - Google Patents
CAN repeater based on LPC1768 platform and data forwarding method Download PDFInfo
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Abstract
The invention provides a CAN repeater based on an LPC1768 platform. The CAN repeater comprises a CAN controller, a first CAN transceiver and a second CAN transceiver, wherein the first CAN transceiver and the second CAN transceiver are connected to a CAN bus. The CAN controller is provided with two CAN data transmit-receive channels, two receiving buffers and three transmitting buffers. The first CAN transceiver and the second CAN transceiver are connected with the two data transmit-receive channels respectively. The CAN controller further comprises a data transmitting module and a data receiving module. The data receiving module is used for receiving CAN messages in an interrupt mode and storing the CAN messages to the receiving buffers. The data transmitting module is used for storing the CAN messages to be transmitted into the transmitting buffers and transmitting the CAN messages in the transmitting buffers out when the CAN bus is idle. The invention further provides a corresponding data forwarding method. The CAN messages are forwarded through the two data transmit-receive channels provided by an LPC1768 chip, a CAN repeater circuit is simplified, and the data throughput speed is increased.
Description
Technical field
The present invention relates to CAN data relay field, more particularly, relate to a kind of CAN repeater and data forwarding method based on LPC1768 platform.
Background technology
CAN link agreement is CAN real-time bus application layer protocol, and the real-time control and the high-speed data that are mainly used between the products such as PLC, frequency converter, servo controller are mutual.In some special-purpose CAN controllers, there are some can realize the module of CAN data retransmission.These CAN relaying designs are used microprocessor (MCU) to add dual chip or the multi-chip solution of CAN controller mostly.
Mainly having the following advantages of above-mentioned CAN repeater: expanded communication distance; Increased the maximum number of node; Each network segment can be used different traffic rates.
Yet in above-mentioned dual chip or multi-chip CAN repeater, its circuit is complicated, and microprocessor is connected by external bus with CAN controller.And the frame that such CAN repeaters is received will first be stored rear forwarding, has increased time delay, makes data throughput speed slower, and reliability is poor.
In addition, in above-mentioned CAN repeater, the media access control sublayer of CAN bus does not have flow control function, when the load on network is very heavy, may overflow because of the insufficient memory of buffer in repeater, so that produces the phenomenon of LOF.
Summary of the invention
The technical problem to be solved in the present invention is, the problem slow for above-mentioned CAN repeater data throughput speed, reliability is poor, provides a kind of CAN repeater and data forwarding method based on LPC1768 platform.
The technical scheme that the present invention solves the problems of the technologies described above is, a kind of CAN repeater based on LPC1768 platform is provided, and comprises the CAN transceiver and the 2nd CAN transceiver that are integrated into the CAN controller of LPC1768 chip and are connected respectively to CAN bus; Described CAN controller has two CAN data transmit-receive passages, two reception buffers and three transmission buffers and a described CAN transceiver and the 2nd CAN transceiver and is connected respectively to a data transceiver channel; Described CAN controller also comprises data transmission blocks, data reception module; Wherein: described data reception module, for receiving CAN message and store reception buffer into by CAN data transmit-receive passage with interrupt mode; Described data transmission blocks for deposit described CAN message in transmission buffer when confirming that the CAN message receiving need to forward, and sends the CAN message in described transmission buffer by CAN data transmit-receive passage when CAN bus is idle.
In the CAN repeater based on LPC1768 platform of the present invention, described CAN controller also comprises data re-transmitting module, for checking each transmission buffer with interrupt mode and when described transmission buffer has the CAN message not sending, this CAN message being retransmitted.
In the CAN repeater based on LPC1768 platform of the present invention, between described CAN controller and a CAN transceiver, be provided with the first photoelectricity isolated location, between described CAN controller and the 2nd CAN transceiver, be provided with the second photoelectricity isolated location.
In the CAN repeater based on LPC1768 platform of the present invention, described the first photoelectricity isolated location and the second photoelectricity isolated location pass through respectively independently Power supply.
In the CAN repeater based on LPC1768 platform of the present invention, described CAN repeater also comprises the examination filter that is integrated into LPC1768 chip, stores the identifier collection of CAN agreement in this examination filter; Described data reception module the identifier of the CAN message receiving with check and accept identifier collection in filter and match after by this CAN packet storage to reception buffer.
The present invention also provides a kind of CAN data forwarding method based on LPC1768 platform, and described LPC1768 platform comprises a CAN transceiver and the 2nd CAN transceiver that is integrated into the CAN controller of LPC1768 chip and is connected respectively to CAN bus; Described CAN controller has two CAN data transmit-receive passages, two reception buffers and three transmission buffers and a described CAN transceiver and the 2nd CAN transceiver and is connected respectively to a data transceiver channel; The method comprises the following steps:
(a) with interrupt mode, by CAN data transmit-receive passage, receive CAN message and store reception buffer into;
(b) when confirming that the CAN message receiving need to forward, deposit described CAN message in transmission buffer, and by CAN data transmit-receive passage, the CAN message in described transmission buffer is sent when CAN bus is idle.
In the CAN data forwarding method based on LPC1768 platform of the present invention, the method also comprises: by interrupt mode, check in each transmission buffer, whether there is the CAN message not sending, and resend when transmission buffer exists the CAN message not sending.
In the CAN data forwarding method based on LPC1768 platform of the present invention, described step (b) comprising:
(b1) receiving CAN message and being confirmed to be after the CAN message that needs to forward, select a vacant transmission buffer identifier is set and CAN message to be sent is packed into;
(b2) the corresponding transmitter register of set;
(b3) when described transmission buffer becomes the transmission buffer of limit priority and CAN bus and enters idle condition, the CAN message in described transmission buffer is sent by a CAN transceiver channel or the 2nd CAN transceiver channel;
(b4) after CAN message sends successfully, described transmission buffer is designated as to vacant transmission buffer.
In the CAN data forwarding method based on LPC1768 platform of the present invention, described CAN repeater also comprises the examination filter that is integrated into LPC1768 chip, stores the identifier collection of CAN agreement in this examination filter; Described step (a) comprising: the identifier of the CAN message of reception is mated with the identifier collection of checking and accepting in filter, and when described identifier matches with the identifier collection of checking and accepting filter by this CAN packet storage to reception buffer.
In the CAN data forwarding method based on LPC1768 platform of the present invention, described reception buffer is with the CAN message of fifo queue storing received.
The present invention is based on CAN repeater and the data forwarding method of LPC1768 platform, the two paths of data transceiver channel carrying by LPC1768 chip carries out CAN message repeating, has simplified CAN repeat circuit, and has improved data throughput speed.
Accompanying drawing explanation
Fig. 1 is the schematic diagram that the present invention is based on the CAN repeater embodiment of LPC1768 platform.
Fig. 2 is the schematic flow sheet that the present invention is based on the CAN data forwarding method embodiment of LPC1768 platform.
Fig. 3 is the flow chart that receives CAN message step in Fig. 2.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
As shown in Figure 1, be the schematic diagram that the present invention is based on the CAN repeater embodiment of LPC1768 platform.The CAN repeater of the present embodiment comprises a CAN transceiver 15 and the 2nd CAN transceiver 16 that is integrated into the CAN controller 10 of LPC1768 chip and is connected respectively to CAN bus, and CAN controller 10 has two CAN data transmit-receive passages, two reception buffers and three transmission buffers and a CAN transceiver 15 and the 2nd CAN transceiver 16 and is connected respectively to a data transceiver channel.Above-mentioned two data transceiver channels, two reception buffers and three transmission buffers are carried by CP1768 chip.Above-mentioned CAN controller 10 also comprises data transmission blocks 12 and data reception module 11, and above-mentioned data transmission blocks 12 and data reception module 11 are realized by the software that runs on LP1768 chip.
Data reception module 11 is for receiving CAN message and store reception buffer into from CAN bus by CAN data transmit-receive passage and via a CAN transceiver 15 and the 2nd CAN transceiver 16.In order to improve the real-time of transfer of data, data reception module 11 adopts interrupt mode to receive CAN message.Particularly, above-mentioned reception buffer can be tri-state FIFO (first-in first-out) queue.
Data transmission blocks 12 deposits CAN message in transmission buffer (sending mailbox) in the time of need to forwarding for the CAN message confirming reception, and by CAN data transmit-receive passage and via a CAN transceiver or the 2nd CAN transceiver, the CAN message in transmission buffer is sent when CAN bus is idle.
Particularly, data transmission blocks 12 is receiving CAN message and is being confirmed to be after the CAN message that needs to forward, select 1 vacant transmission buffer that identifier is set, and CAN message to be sent is packed into this transmission buffer, then the corresponding transmitter register of set is (once transmission buffer is no longer vacant, 12 pairs of corresponding transmitter registers of data transmission blocks no longer include the authority of writing), ask to send and wait for the transmission buffer that becomes limit priority.Once transmission buffer becomes the transmission buffer of limit priority, its state just becomes predetermined transmission state, and when CAN bus enters idle condition, the CAN message in this buffer storage is sent.After CAN message in buffer storage is successfully sent, this buffer storage becomes vacant state (corresponding transmitter register resets) at once.
The two-way CAN data transmit-receive passage that the above-mentioned CAN repeater based on LPC1768 platform utilizes LPC1768 chip to carry, has simplified CAN repeat circuit.Three transmission buffers of CAN controller 10 and two reception buffers can efficiently be processed and receive message and CAN message is forwarded in time.
Above-mentioned CAN controller 10 also can comprise data re-transmitting module.This data re-transmitting module is for check the CAN message whether each transmission buffer be issued (this inspection can be carried out with regular time interval) with interrupt mode (1 millisecond), and this CAN message retransmitted while having the CAN message not sending in transmission buffer.This data re-transmitting module, when CAN message does not forward in time, by 1ms interrupt retransmissions, has greatly been avoided the situation of LOF when CAN bus high load capacity.
In order to improve the antijamming capability in production scene, guarantee the reliability of CAN repeater operation, can between CAN controller 10 and a CAN transceiver 15, the first photoelectricity isolated location 13 be set, between CAN controller 10 and the 2nd CAN transceiver 16, the second photoelectricity isolated location 14 is set, realizes the electrical isolation between CAN node.And, also can adopt the interference of the method cutting system power supply of additional DC/DC power module, the first photoelectricity isolated location 13 and the second photoelectricity isolated location 14 pass through respectively independently Power supply.
Above-mentioned CAN controller 10 also can comprise the examination filter that is integrated into LPC1768 chip, stores the identifier collection of CAN agreement in this examination filter.Data reception module 11 is after receiving CAN message, first the identifier of this CAN message is verified, namely the identifier of the CAN message of this reception is mated with the identifier collection of checking and accepting in filter, and after in identifier match by this CAN packet storage to reception buffer.Particularly, when two CAN data receiving channels of CAN controller 10 receive a CAN message via a CAN transceiver 15 and the 2nd CAN transceiver 16, data reception module 11 is compared the identifier of this CAN message with the examination filter being configured under identifier column table schema, if matched, message is just stored in the reception buffer being associated, and the sequence number of mating is stored in the coupling sequence number of checking and accepting filter; If do not mated, data reception module 11 then compares the identifier of this CAN message with the examination filter being configured under mask bit pattern; If the identifier of CAN message does not match with any identifier of checking and accepting in filter, abandon this CAN message.
In addition, above-mentioned CAN controller 10 also can comprise initialization module, and this initialization module is mainly used in the configuration of pin, interruption, baud rate, station number.
As shown in Figure 2, it is the schematic flow sheet that the present invention is based on the CAN data forwarding method embodiment of LPC1768 platform, wherein LPC1768 platform comprises a CAN transceiver and the 2nd CAN transceiver that is integrated into the CAN controller of LPC1768 chip and is connected respectively to CAN bus, and above-mentioned CAN controller has two CAN data transmit-receive passages, two reception buffers and three transmission buffers and a CAN transceiver and the 2nd CAN transceiver and is connected respectively to a data transceiver channel; The method comprises the following steps:
Two CAN data transmit-receive passages of step S21:CAN controller receive CAN message and store reception buffer into via a CAN transceiver and the 2nd CAN transceiver with interrupt mode respectively.By interrupt mode, receive CAN message, can improve the real-time of transfer of data.Particularly, above-mentioned reception buffer can adopt tri-state FIFO (first-in first-out) queue.
Two CAN data transmit-receive passages of step S22:CAN controller deposit CAN message in transmission buffer (transmission mailbox) when confirming that the data that receive need to forward, and by CAN data transmit-receive passage and via a CAN transceiver and the 2nd CAN transceiver, the CAN message in transmission buffer are sent when CAN bus is idle.
Especially, this step specifically comprises: receiving data and be confirmed to be after the data of needs forwarding, selecting a vacant transmission buffer identifier is set and data to be sent are packed into; The corresponding transmitter register of set; When transmission buffer becomes the transmission buffer of limit priority and CAN bus and enters idle condition, the data in transmission buffer are sent via a CAN transceiver or the 2nd CAN transceiver; Transmission buffer is designated as to vacant transmission buffer after data send successfully, and removes the set sign of corresponding transmitter register.
At CAN controller, carry out in the reception of CAN message and repeating process, above-mentioned steps S21 and step S22 carry out simultaneously.
In addition, for fear of when the CAN bus high load capacity situation of LOF, the above-mentioned CAN data forwarding method based on LPC1768 platform can comprise that interruption checks step, by 1ms interrupt mode, check in each transmission buffer, whether there is the CAN message not sending, and resend when there is the CAN message not sending.
Above-mentioned CAN repeater also comprises the examination filter that is integrated into LPC1768 chip, stores the identifier collection of CAN agreement in this examination filter; As shown in Figure 3, be the detailed process schematic diagram that receives CAN message in Fig. 2, it specifically comprises:
Step S211: when receiving CAN message, determine whether that a CAN data transmit-receive passage interrupts, if perform step S212, otherwise execution step S215.
Step S212: the identifier of the CAN message of reception is mated with the identifier collection of checking and accepting in filter, and when matching, the identifier of CAN message and identifier collection confirm that this CAN message is effective message, and perform step S213, otherwise execution step S214.
Step S213: by this CAN packet storage to reception buffer.
Step S214: discharge a CAN data transmit-receive passage.
Step S215: determine whether that the 2nd CAN data transmit-receive passage interrupts, if perform step S216, otherwise finish.
Step S216: the identifier of the CAN message of reception is mated with the identifier collection of checking and accepting in filter, and when matching, the identifier of CAN message and identifier collection confirm that this CAN message is effective message, and perform step S217, otherwise execution step S218.
Step S217: by this CAN packet storage to reception buffer.
Step S218: discharge the 2nd CAN data transmit-receive passage.
The above; be only the present invention's embodiment preferably, but protection scope of the present invention is not limited to this, is anyly familiar with in technical scope that those skilled in the art disclose in the present invention; the variation that can expect easily or replacement, within all should being encompassed in protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection range of claim.
Claims (10)
1. the CAN repeater based on LPC1768 platform, is characterized in that: comprise the CAN transceiver and the 2nd CAN transceiver that are integrated into the CAN controller of LPC1768 chip and are connected respectively to CAN bus; Described CAN controller has two CAN data transmit-receive passages, two reception buffers and three transmission buffers and a described CAN transceiver and the 2nd CAN transceiver and is connected respectively to a data transceiver channel; Described CAN controller also comprises data transmission blocks, data reception module; Wherein: described data reception module, for receiving CAN message and store reception buffer into by CAN data transmit-receive passage with interrupt mode; Described data transmission blocks for deposit described CAN message in transmission buffer when confirming that the CAN message receiving need to forward, and sends the CAN message in described transmission buffer by CAN data transmit-receive passage when CAN bus is idle.
2. the CAN repeater based on LPC1768 platform according to claim 1, it is characterized in that: described CAN controller also comprises data re-transmitting module, for checking each transmission buffer with interrupt mode and when described transmission buffer has the CAN message not sending, this CAN message being retransmitted.
3. the CAN repeater based on LPC1768 platform according to claim 1, it is characterized in that: between described CAN controller and a CAN transceiver, be provided with the first photoelectricity isolated location, between described CAN controller and the 2nd CAN transceiver, be provided with the second photoelectricity isolated location.
4. the CAN repeater based on LPC1768 platform according to claim 3, is characterized in that: described the first photoelectricity isolated location and the second photoelectricity isolated location pass through respectively independently Power supply.
5. the CAN repeater based on LPC1768 platform according to claim 1, is characterized in that: described CAN repeater also comprises the examination filter that is integrated into LPC1768 chip, stores the identifier collection of CAN agreement in this examination filter; Described data reception module the identifier of the CAN message receiving with check and accept identifier collection in filter and match after by this CAN packet storage to reception buffer.
6. the CAN data forwarding method based on LPC1768 platform, is characterized in that: described LPC1768 platform comprises a CAN transceiver and the 2nd CAN transceiver that is integrated into the CAN controller of LPC1768 chip and is connected respectively to CAN bus; Described CAN controller has two CAN data transmit-receive passages, two reception buffers and three transmission buffers and a described CAN transceiver and the 2nd CAN transceiver and is connected respectively to a data transceiver channel; The method comprises the following steps:
(a) with interrupt mode, by CAN data transmit-receive passage, receive CAN message and store reception buffer into;
(b) when confirming that the CAN message receiving need to forward, deposit described CAN message in transmission buffer, and by CAN data transmit-receive passage, the CAN message in described transmission buffer is sent when CAN bus is idle.
7. the CAN data forwarding method based on LPC1768 platform according to claim 6, it is characterized in that: the method also comprises: by interrupt mode, check in each transmission buffer, whether there is the CAN message not sending, and resend when transmission buffer exists the CAN message not sending.
8. the CAN data forwarding method based on LPC1768 platform according to claim 6, is characterized in that: described step (b) comprising:
(b1) receiving CAN message and being confirmed to be after the CAN message that needs to forward, select a vacant transmission buffer identifier is set and CAN message to be sent is packed into;
(b2) the corresponding transmitter register of set;
(b3) when described transmission buffer becomes the transmission buffer of limit priority and CAN bus and enters idle condition, the CAN message in described transmission buffer is sent by a CAN transceiver channel or the 2nd CAN transceiver channel;
(b4) after CAN message sends successfully, described transmission buffer is designated as to vacant transmission buffer.
9. the CAN data forwarding method based on LPC1768 platform according to claim 6, is characterized in that: described CAN repeater also comprises the examination filter that is integrated into LPC1768 chip, stores the identifier collection of CAN agreement in this examination filter; Described step (a) comprising: the identifier of the CAN message of reception is mated with the identifier collection of checking and accepting in filter, and when described identifier matches with the identifier collection of checking and accepting filter by this CAN packet storage to reception buffer.
10. the CAN data forwarding method based on LPC1768 platform according to claim 9, is characterized in that: described reception buffer is with the CAN message of fifo queue storing received.
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