CN104009901B - CAN repeater and data forwarding method based on LPC1768 platform - Google Patents
CAN repeater and data forwarding method based on LPC1768 platform Download PDFInfo
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- CN104009901B CN104009901B CN201410193734.6A CN201410193734A CN104009901B CN 104009901 B CN104009901 B CN 104009901B CN 201410193734 A CN201410193734 A CN 201410193734A CN 104009901 B CN104009901 B CN 104009901B
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Abstract
The present invention provides a kind of CAN repeaters based on LPC1768 platform, including CAN controller and are connected respectively to the first CAN transceiver and the second CAN transceiver of CAN bus；It is described that CAN controller tool is there are two CAN data transmit-receive channel, two reception buffers and three transmission buffers and first CAN transceiver and the second CAN transceiver are connected respectively to a data transceiver channel；The CAN controller further includes data transmission blocks, data reception module；Wherein: the data reception module, for receiving CAN message with interrupt mode and storing to reception buffer；The data transmission blocks for CAN message to be sent to be stored in transmission buffer, and send the CAN message in the transmission buffer in the CAN bus free time.The present invention also provides a kind of corresponding data forwarding methods.The present invention carries out CAN message forwarding by the two paths of data transceiver channel that LPC1768 chip carries, and simplifies CAN repeat circuit, and improve data throughput speed.
Description
Technical field
The present invention relates to CAN data to relay field, relays more specifically to a kind of CAN based on LPC1768 platform
Device and data forwarding method.
Background technique
CAN link agreement is CAN real-time bus application layer protocol, is mainly used for the production such as PLC, frequency converter, servo controller
Real-time control between product is interacted with high-speed data.In some dedicated CAN controllers, having some can be realized CAN data
The module of forwarding.The design of these CAN relaying is mostly using microprocessor (MCU) plus the dual chip or multi-chip of CAN controller
Solution.
Mainly having the advantage that for above-mentioned CAN repeater expands communication distance；Increase the maximum number of node；
Different traffic rates can be used in each network segment.
However in above-mentioned dual chip or multi-chip CAN repeater, circuit is complicated, microprocessor and CAN control
Device is attached by external bus.And the frame that such CAN repeaters is received will be stored first to be forwarded afterwards, increases delay,
So that data throughput speed is slower, Reliability comparotive is poor.
In addition, there is no flow control functions for the media access control sublayer of CAN bus, when negative on network in above-mentioned CAN repeater
When lotus is very heavy, may because in repeater the insufficient memory of buffer due to overflow so that generate frame loss the phenomenon that.
Summary of the invention
The technical problem to be solved in the present invention is that it is slow for above-mentioned CAN REPEATER DATA throughput speed, reliability is poor
The problem of, a kind of CAN repeater and data forwarding method based on LPC1768 platform is provided.
The technical solution that the present invention solves above-mentioned technical problem is to provide a kind of CAN relaying based on LPC1768 platform
Device, including being integrated into the CAN controller of LPC1768 chip and being connected respectively to the first CAN transceiver and second of CAN bus
CAN transceiver；There are two CAN data transmit-receive channel, two reception buffers and three transmission bufferings for the CAN controller tool
Device and first CAN transceiver and the second CAN transceiver are connected respectively to a data transceiver channel；The CAN controller
It further include data transmission blocks, data reception module；Wherein: the data reception module, for passing through CAN number with interrupt mode
CAN message is received according to transceiver channel and is stored to reception buffer；The data transmission blocks, for confirming received CAN
The CAN message is stored in transmission buffer when message needs to forward, and logical by CAN data transmit-receive in the CAN bus free time
Road sends the CAN message in the transmission buffer；
Data transmission blocks receive CAN message and confirm be to need the CAN message that forwards after, select one it is vacant
Identifier is arranged in transmission buffer, and CAN message to be sent is packed into the transmission buffer, and then set sends deposit accordingly
Device, to request to send and wait the transmission buffer as highest priority, once transmission buffer becomes highest priority
Transmission buffer, state just become predetermined transmission state, and will be in the transmission buffer when CAN bus enters idle state
CAN message send, after the CAN message in transmission buffer is successfully sent, which immediately becomes sky
Set state；
The CAN controller further includes data re-transmitting module, for interrupt mode check each transmission buffer and
Have when not sent CAN message in the transmission buffer and the CAN message is retransmitted.
In the CAN repeater of the present invention based on LPC1768 platform, the CAN controller and the first CAN are received and dispatched
It is equipped with the first phototube coupling unit between device, the second Phototube Coupling list is equipped between the CAN controller and the second CAN transceiver
Member.
In the CAN repeater of the present invention based on LPC1768 platform, first phototube coupling unit and second
Phototube coupling unit passes through independent power supply power supply respectively.
In the CAN repeater of the present invention based on LPC1768 platform, the CAN repeater further includes being integrated into
The acceptance fitration of LPC1768 chip is stored with the identifier collection of CAN protocol in the acceptance fitration；The data reception
Block stores the CAN message to connecing after the identifier collection in the identifier and acceptance fitration of received CAN message matches
Receive buffer.
The present invention also provides a kind of CAN data forwarding method based on LPC1768 platform, the LPC1768 platform includes
It is integrated into the CAN controller of LPC1768 chip and is connected respectively to the first CAN transceiver and the 2nd CAN transmitting-receiving of CAN bus
Device；There are two CAN data transmit-receive channel, two reception buffers and three transmission buffers and institutes for the CAN controller tool
It states the first CAN transceiver and the second CAN transceiver is connected respectively to a data transceiver channel；Method includes the following steps:
(a) CAN data transmit-receive channel reception CAN message is passed through with interrupt mode and stored to reception buffer；
(b) CAN message is stored in transmission buffer when confirming that received CAN message needs to forward, and total in CAN
The CAN message in the transmission buffer is sent by CAN data transmit-receive channel when the line free time；
The step (b) includes:
(b1) receive CAN message and confirm be to need the CAN message that forwards after, select a vacant transmission buffering
Device is arranged identifier and CAN message to be sent is packed into；
(b2) the corresponding transmitter register of set；
(b3) become the transmission buffer of highest priority in the transmission buffer and CAN bus enters idle state
When, the CAN message in the transmission buffer is sent by the first CAN transceiver channel or the 2nd CAN transceiver channel；
(b4) transmission buffer is designated as vacant transmission buffer after CAN message is sent successfully；
This method further include: checked in each transmission buffer by interrupt mode with the presence or absence of the not sent CAN to go out
Message, and there are retransmissions when not sent CAN message in transmission buffer.
In the CAN data forwarding method of the present invention based on LPC1768 platform, the CAN controller further includes
It is integrated into the acceptance fitration of LPC1768 chip, the identifier collection of CAN protocol is stored in the acceptance fitration；The step
It (a) include: to match the identifier of received CAN message with the identifier collection in acceptance fitration, and in the mark
By CAN message storage to reception buffer when the identifier collection of symbol and acceptance fitration matches.
In the CAN data forwarding method of the present invention based on LPC1768 platform, the reception buffer is with advanced
First dequeue stores received CAN message.
The present invention is based on the CAN repeaters and data forwarding method of LPC1768 platform, are carried by LPC1768 chip
Two paths of data transceiver channel carries out CAN message forwarding, simplifies CAN repeat circuit, and improve data throughput speed.
Detailed description of the invention
Fig. 1 is the schematic diagram of the CAN repeater embodiments the present invention is based on LPC1768 platform.
Fig. 2 is the flow diagram of the CAN data forwarding method embodiment the present invention is based on LPC1768 platform.
Fig. 3 is the flow chart that CAN message step is received in Fig. 2.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
As shown in Figure 1, being the schematic diagram of the CAN repeater embodiments the present invention is based on LPC1768 platform.The present embodiment
CAN repeater includes the first CAN transmitting-receiving for being integrated into the CAN controller 10 of LPC1768 chip and being connected respectively to CAN bus
Device 15 and the second CAN transceiver 16, and CAN controller 10 tool there are two CAN data transmit-receive channel, two reception buffers with
And three transmission buffers and the first CAN transceiver 15 and the second CAN transceiver 16 are connected respectively to a data transceiver channel.
Above-mentioned two data transmit-receive channel, two reception buffers and three transmission buffers are carried by CP1768 chip.Above-mentioned CAN
Controller 10 further includes data transmission blocks 12 and data reception module 11, and above-mentioned data transmission blocks 12 and data reception
Block 11 is by running on the software realization of LP1768 chip.
Data reception module 11 is used to receive by CAN data transmit-receive channel and via the first CAN transceiver 15 and the 2nd CAN
Device 16 is sent out to receive CAN message from CAN bus and store to reception buffer.For the real-time of improve data transfer, data are connect
It receives module 11 and CAN message is received using interrupt mode.Specifically, above-mentioned reception buffer can be tri-state FIFO (first in, first out) team
Column.
Data transmission blocks 12, which are used to be stored in CAN message when confirming that received CAN message needs to forward, sends buffering
Device (i.e. transmission mailbox), and in the CAN bus free time by CAN data transmit-receive channel and via the first CAN transceiver or second
CAN transceiver sends the CAN message in transmission buffer.
Specifically, data transmission blocks 12 receive CAN message and confirm be to need the CAN message that forwards after, select 1
Identifier is arranged in a vacant transmission buffer, and CAN message to be sent is packed into the transmission buffer, and then set is corresponding
Transmitter register (once transmission buffer be no longer it is vacant, there is no write to corresponding transmitter register for data transmission blocks 12
Permission), to request to send and wait the transmission buffer as highest priority.Once it is preferential that transmission buffer becomes highest
The transmission buffer of grade, state just become predetermined transmission state, and when CAN bus enters idle state by the buffer-stored
CAN message in device is sent.After CAN message in buffer storage is successfully sent, which becomes at once
For blank state (corresponding transmitter register reset).
The above-mentioned CAN repeater based on LPC1768 platform is logical using the two-way CAN data transmit-receive that LPC1768 chip carries
Road simplifies CAN repeat circuit.Three transmission buffers and two reception buffers of CAN controller 10 being capable of efficient process
It receives message and CAN message is forwarded in time.
Above-mentioned CAN controller 10 may also include data re-transmitting module.The data re-transmitting module is used for interrupt mode (1 milli
Second) check whether (inspection can be held each transmission buffer at regular intervals either with or without the CAN message being issued
Row), and have in transmission buffer and the CAN message is retransmitted when not sent CAN message.The data re-transmitting module exists
When CAN message forwards not in time, is interrupted and retransmitted by 1ms, largely avoid the feelings of the frame loss in CAN bus high load capacity
Condition.
In order to improve the anti-interference ability in production scene, guarantees the reliability of CAN repeater operation, can be controlled in CAN
First phototube coupling unit 13 is set between device 10 and the first CAN transceiver 15, in CAN controller 10 and the second CAN transceiver
Second phototube coupling unit 14 is set between 16, realizes the electrical isolation between CAN node.Also, additional DC/DC also can be used
The interference of the method cutting system power supply of power module, i.e. the first phototube coupling unit 13 and the second phototube coupling unit 14 difference
Pass through independent power supply power supply.
Above-mentioned CAN controller 10 may also include the acceptance fitration for being integrated into LPC1768 chip, in the acceptance fitration
It is stored with the identifier collection of CAN protocol.Data reception module 11 is after receiving CAN message, first to the identifier of the CAN message
It is verified, that is, the identifier of the received CAN message is matched with the identifier collection in acceptance fitration, and is identifying
Symbol stores the CAN message to reception buffer after matching.Specifically, logical in two CAN data receivers of CAN controller 10
When road receives a CAN message via the first CAN transceiver 15 and the second CAN transceiver 16, data reception module 11 is by the CAN
The identifier of message with configuration in the acceptance fitration under identifier column table schema compared with, if matched, message is just deposited
Be put into associated reception buffer, and matched serial number be stored into the matching serial number of acceptance fitration；If not yet
There is a matching, data reception module 11 is by the identifier of the CAN message then acceptance fitration with configuration under mask bit pattern
It is compared；If the identifier of CAN message does not match with any identifier in acceptance fitration, the CAN is abandoned
Message.
In addition, above-mentioned CAN controller 10 may also include initialization module, the initialization module be mainly used for pin, interruption,
The configuration of baud rate, station number.
As shown in Fig. 2, be the flow diagram of the CAN data forwarding method embodiment the present invention is based on LPC1768 platform,
Wherein LPC1768 platform includes the first CAN for being integrated into the CAN controller of LPC1768 chip and being connected respectively to CAN bus
Transceiver and the second CAN transceiver, above-mentioned CAN controller tool there are two CAN data transmit-receive channel, two reception buffers and
Three transmission buffers and the first CAN transceiver and the second CAN transceiver are connected respectively to a data transceiver channel；This method
The following steps are included:
Two CAN data transmit-receive channels of step S21:CAN controller are respectively with interrupt mode via the first CAN transceiver
CAN message is received with the second CAN transceiver and is stored to reception buffer.CAN message is received by interrupt mode, number can be improved
According to the real-time of transmission.Specifically, tri-state FIFO (first in, first out) queue can be used in above-mentioned reception buffer.
Two CAN data transmit-receive channels of step S22:CAN controller are when confirming that received data need to forward by CAN
Message is stored in transmission buffer (sending mailbox), and in the CAN bus free time by CAN data transmit-receive channel and via first
CAN transceiver and the second CAN transceiver send the CAN message in transmission buffer.
Particularly, which specifically includes: receive data and confirm be to need the data that forward after, select a sky
The transmission buffer setting identifier set simultaneously is packed into data to be sent；The corresponding transmitter register of set；In transmission buffer
When transmission buffer and CAN bus as highest priority enter idle state, by the data in transmission buffer via
One CAN transceiver or the second CAN transceiver are sent；Transmission buffer vacant send is designated as after data are sent successfully to delay
Device is rushed, and removes the set mark of corresponding transmitter register.
It carries out CAN message in CAN controller to receive in repeating process, above-mentioned steps S21 and step S22 are performed simultaneously.
In addition, in order to avoid in CAN bus high load capacity the case where frame loss, the above-mentioned CAN based on LPC1768 platform
Data forwarding method may include interrupting checking step, i.e., being checked in each transmission buffer by 1ms interrupt mode whether there is
The not sent CAN message gone out, and retransmission when there are not sent CAN message.
Above-mentioned CAN repeater further includes the acceptance fitration for being integrated into LPC1768 chip, is stored in the acceptance fitration
The identifier collection of CAN protocol；As shown in figure 3, being the detailed process schematic diagram for receiving CAN message in Fig. 2, specifically include:
Step S211: the first CAN data transmit-receive channel interrupt is judged whether it is when receiving CAN message, if then holding
Row step S212, it is no to then follow the steps S215.
Step S212: the identifier of received CAN message is matched with the identifier collection in acceptance fitration, and
The identifier and identifier collection of CAN message confirm that the CAN message is effective message when matching, and execute step S213, otherwise
Execute step S214.
Step S213: by CAN message storage to reception buffer.
Step S214: the first CAN data transmit-receive channel of release.
Step S215: judge whether it is the 2nd CAN data transmit-receive channel interrupt and otherwise tied if so then execute step S216
Beam.
Step S216: the identifier of received CAN message is matched with the identifier collection in acceptance fitration, and
The identifier and identifier collection of CAN message confirm that the CAN message is effective message when matching, and execute step S217, otherwise
Execute step S218.
Step S217: by CAN message storage to reception buffer.
Step S218: the 2nd CAN data transmit-receive channel of release.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with scope of protection of the claims
Subject to.
Claims (7)
1. a kind of CAN repeater based on LPC1768 platform, it is characterised in that: the CAN including being integrated into LPC1768 chip is controlled
Device processed and the first CAN transceiver and the second CAN transceiver for being connected respectively to CAN bus；There are two the CAN controller tools
CAN data transmit-receive channel, two reception buffers and three transmission buffers and first CAN transceiver and the 2nd CAN
Transceiver is connected respectively to a data transceiver channel；The CAN controller further includes data transmission blocks, data reception
Block；Wherein: the data reception module is arrived for being passed through CAN data transmit-receive channel reception CAN message with interrupt mode and being stored
Buffer is received, the reception buffer is tri-state fifo queue；The data transmission blocks, for confirming received CAN
The CAN message is stored in transmission buffer when message needs to forward, and logical by CAN data transmit-receive in the CAN bus free time
Road sends the CAN message in the transmission buffer；
Data transmission blocks receive CAN message and confirm be to need the CAN message that forwards after, select a vacant transmission
Identifier is arranged in buffer, and CAN message to be sent is packed into the transmission buffer, then the corresponding transmitter register of set,
Request to send and wait the transmission buffer as highest priority, once transmission buffer becomes the transmission of highest priority
Buffer, state just become predetermined transmission state, and will be in the transmission buffer when CAN bus enters idle state
CAN message is sent, and after the CAN message in transmission buffer is successfully sent, which immediately becomes vacant
State；
The CAN controller further includes data re-transmitting module, for checking each transmission buffer with interrupt mode and described
Have when not sent CAN message in transmission buffer and the CAN message is retransmitted.
2. the CAN repeater according to claim 1 based on LPC1768 platform, it is characterised in that: the CAN controller
It is equipped with the first phototube coupling unit between the first CAN transceiver, is equipped between the CAN controller and the second CAN transceiver
Second phototube coupling unit.
3. the CAN repeater according to claim 2 based on LPC1768 platform, it is characterised in that: first photoelectricity every
Pass through independent power supply power supply respectively from unit and the second phototube coupling unit.
4. the CAN repeater according to claim 1 based on LPC1768 platform, it is characterised in that: the CAN repeater
Further include the acceptance fitration for being integrated into LPC1768 chip, the identifier collection of CAN protocol is stored in the acceptance fitration；Institute
Data reception module is stated after the identifier collection in the identifier and acceptance fitration of received CAN message matches by the CAN
Packet storage to receive buffer.
5. a kind of CAN data forwarding method based on LPC1768 platform, it is characterised in that: the LPC1768 platform includes integrated
To LPC1768 chip CAN controller and be connected respectively to the first CAN transceiver and the second CAN transceiver of CAN bus；
There are two CAN data transmit-receive channel, two reception buffers and three transmission buffers and described for CAN controller tool
One CAN transceiver and the second CAN transceiver are connected respectively to a data transceiver channel；Method includes the following steps:
(a) CAN data transmit-receive channel reception CAN message is passed through with interrupt mode and stored to buffer is received, the reception is slow
Rushing device is tri-state fifo queue；
(b) CAN message is stored in transmission buffer when confirming that received CAN message needs to forward, and in CAN bus sky
Idle is sent the CAN message in the transmission buffer by CAN data transmit-receive channel；
The step (b) includes:
(b1) receive CAN message and confirm be to need the CAN message that forwards after, select a vacant transmission buffer to set
It sets identifier and CAN message to be sent is packed into；
(b2) the corresponding transmitter register of set；
It (b3), will when the transmission buffer becomes the transmission buffer of highest priority and CAN bus enters idle state
CAN message in the transmission buffer is sent by the first CAN transceiver channel or the 2nd CAN transceiver channel；
(b4) transmission buffer is designated as vacant transmission buffer after CAN message is sent successfully；
This method further include: being checked by interrupt mode whether there is the not sent CAN message gone out in each transmission buffer,
And there are retransmissions when not sent CAN message in transmission buffer.
6. the CAN data forwarding method according to claim 5 based on LPC1768 platform, it is characterised in that: the CAN
Controller further includes the acceptance fitration for being integrated into LPC1768 chip, and the identifier of CAN protocol is stored in the acceptance fitration
Collection；The step (a) include: the identifier of received CAN message is matched with the identifier collection in acceptance fitration, and
The CAN message is stored to reception buffer when the identifier collection of the identifier and acceptance fitration matches.
7. the CAN data forwarding method according to claim 6 based on LPC1768 platform, it is characterised in that: the reception
Buffer stores received CAN message with fifo queue.
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| CN201410193734.6A CN104009901B (en) | 2014-05-08 | 2014-05-08 | CAN repeater and data forwarding method based on LPC1768 platform |
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| CN105471479B (en) * | 2015-11-12 | 2018-03-27 | 杭州电子科技大学 | A kind of CAN Bluetooth data transmission devices for industry spot |
| CN106230688B (en) * | 2016-07-20 | 2019-05-31 | 中国航空工业集团公司航空动力控制系统研究所 | CAN communication interchannel communication Design method based on DSP2812 |
| CN108616368B (en) * | 2016-12-12 | 2021-02-09 | 中国航空工业集团公司西安航空计算技术研究所 | Network management message data sending method for processing SoC chip based on Mi-1394 bus protocol |
| CN106878112B (en) * | 2017-03-20 | 2019-12-13 | 北京汽车研究总院有限公司 | Gateway controller, data transmission method and device |
| CN108928213B (en) * | 2018-07-17 | 2022-04-19 | 深圳市汇川技术股份有限公司 | Parameter configuration method of control panel, control panel and controlled equipment |
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| CN102075009A (en) * | 2009-07-08 | 2011-05-25 | 西安电子科技大学 | Controller area network (CAN)-based distributed electric load control device |
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