CN104199298A - Controller area network (CAN) bus Baud rate self-adapting method - Google Patents
Controller area network (CAN) bus Baud rate self-adapting method Download PDFInfo
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Abstract
The invention relates to a controller area network (CAN) bus Baud rate self-adapting method. The CAN bus Baud rate self-adapting method includes the steps of (1) performing measurement to obtain a Baud rate measurement value; (2) calculating values which are 1 to 5 times the Baud rate measurement value and converting the values into proximate values in a stand Baud rate table to obtain A values in a measurement Baud rate table; (3) setting a Baud rate of a main controller according to the values in the measurement Baud rate table, wherein Baud rate matching is successful if a received message is correct, the message is received again if the received message is erroneous and error count does not reach a threshold value X, and other values in the measurement Baud rate table are used for replacement if the error count reaches the X until all A values are tried; (4) if the A values in the measurement Baud rate table are tried in failure, using a dichotomy to poll the next Baud rate value in the standard Baud rate table with the Baud rate measurement value as the center, and performing resetting unit the received message is correct. Compared with normal Baud rate polling methods, the CAN bus Baud rate self-adapting method is capable of rapidly positioning actual Baud rates, saving self-adapting time and improving efficiency.
Description
Technical field
The present invention relates to the invention belongs to the industrial field bus communications field, be specially a kind of method of CAN bus baud rate self-adapting.
Background technology
CAN is the abbreviation of controller local area network (Controller Area Network, CAN), and CAN bus protocol has become the STD bus of Computer Controlled System for Vehicle and built-in industrial control area net（CAN）.
Various operating system itself is integrated many plate level support packages, and a lot of manufacturer provides corresponding plate level to drive, and the support to CAN bus protocol is also provided, and also supports the CAN device drives of character device form simultaneously.
But the baud rate of CAN bus is not unique, in the time that the baud rate of CAN bus and certain CAN equipment does not match, just cannot carry out normal communication.General only support of CAN equipment bottom layer driving that manufacturer provides receives and sending function, adaptation function while not providing baud rate not mate, therefore in the time that CAN bus does not match with the baud rate of be connected CAN device bus, will produce message and receive or send wrong interruption, cause CAN equipment normally to move.
The report of existing existing research CAN bus baud rate automatic matching method for this reason, but existing these methods are mostly to adopt conservative polling method, find after message mistake, in baud rate table, attempt according to descending or ascending order traversal, on probation until obtain the baud rate of coupling one by one.Although this method can realize baud rate Auto-matching, auto-adaptive time is uncertain, inefficiency.If the baud rate in CAN bus is just maximal value, and the on probation of baud rate is just in time descending, and once the match is successful, fastest; If the baud rate in CAN bus is minimum value, and baud rate is on probation or descending, needs to travel through that whole baud rate table could the match is successful, at most consuming time.
For overcoming the deficiency of above baud rate automatic matching method, need to provide a kind of CAN bus baud rate quick self-adapted method.
Summary of the invention
The object of the invention is to design a kind of method of CAN bus baud rate self-adapting, navigate to fast the baud rate of CAN bus reality by measuring the method for baud rate, saved the adaptive time, improved efficiency.
The method of the CAN bus baud rate self-adapting of the present invention's design, primary controller connects CAN equipment by Serial Peripheral Interface (SPI) (spi interface), control the work of CAN equipment, CAN equipment connection is in CAN bus, receive from the data of CAN bus or send data to CAN bus, in the time that primary controller does not mate with the baud rate of CAN bus, have packet sending and receiving mistake, produce message mistake and interrupt; Concrete steps are as follows:
I, measurement baud rate
Primary controller is furnished with input capture module and timer, and input capture module and timer are measured the baud rate bit time in CAN bus, obtain baud rate measured value;
Baud rate bit time measuring method in described CAN bus, specific as follows:
The input capture module of I-1, primary controller is set as each edge and catches timer value, and the reception pin of CAN equipment is connected to the pin of the input capture module of primary controller, starts timer, and opens input capture interruption;
I-2, in input capture interrupts processing, preserve the timer moment value N that captures individual, the integer that N is 50～80;
I-3, baud rate bit time taking the difference of adjacent timer moment value as capturing, catch N-1 baud rate bit time sample, gets the inverse of minimum value in baud rate bit time sample as baud rate measured value;
II, measurement baud rate table
Because a porch at least appears in every 6 bit times of CAN agreement, so actual baud rate is likely 1～5 times of baud rate measured value.The value of 1～5 times of primary controller calculation procedure I gained baud rate measured value, and these 5 values are separately converted to immediate value in standard baud rate table, wherein exceeding the invalid value that is considered as of standard baud rate table scope, remaining conversion values composition is measured baud rate table;
The scope of standard baud rate is 1Mbps～5Kbps.Consider that baud rate measured value itself exists error, when the doubly value of calculating gained baud rate measured value is more than or equal to 1.01M, think that this calculating income value exceeds standard baud rate scope, is considered as invalid value; And be greater than 1M, be less than 1.01 value and be correspondingly converted into 1M.
III, the baud rate table of measuring on probation
In baud rate table, certain arranges CAN equipment baud rate without value on probation to measure for III-1, primary controller;
III-2, receive the message in CAN bus, judge whether message correctly that CAN equipment receives;
If the message correctly of the CAN bus receiving, enters III-3; If receive the message mistake of CAN bus, enter III-4;
III-3, judge the message correctly that CAN equipment is received, the match is successful for baud rate, and self-adaptation completes;
In order to confirm baud rate, the match is successful, and this step judges after the message correctly that CAN equipment receives that correct counting C is cumulative 1, when the value of correct counting C does not reach proper threshold value Y, returns to step III-2; When the value of correct counting C reaches proper threshold value Y, the match is successful to determine baud rate, and self-adaptation completes; Described proper threshold value Y is set to 2～4.
III-4, judge that the message that CAN equipment receives is wrong, be built in the error count n of counter of primary controller cumulative 1, judge now whether the value of error count n reaches the wrong threshold X of meter, if do not reach to the wrong threshold X of meter, return to III-2; If n reaches the wrong threshold X of meter, illustrate that this baud rate value on probation do not mate, enter step III-5;
The wrong threshold X of described meter is set to 2～4.
In the time of error count n cumulative 1, correctly count C zero clearing.
III-5, judge that whether the value of measuring in baud rate table is all on probation,
If all not on probation, the error count n zero clearing of the counter of primary controller, returns to step III-1;
If all on probation, all failures of value baud rate coupling of measuring in baud rate table are described, there is error in baud rate measurement, enters step IV;
IV, dichotomy poll are searched
IV-1, in step II, one times of baud rate measured value of gained, in standard baud rate table centered by corresponding conversion values, is searched next baud rate value by the left and right sides, dichotomy Gai center successively poll, resets the baud rate of primary controller;
IV-2, return to step III-2.
Even if the measured value of this method baud rate is wrong, be also to approach coupling baud rate, therefore left and right poll, without traversal standard baud rate table, just can obtain the baud rate value of coupling.
The concrete steps that the dichotomy left and right poll of described step IV-1 obtains next baud rate value are as follows:
IV-11, in step II, one times of baud rate measured value of gained is in standard baud rate table centered by corresponding conversion values, and initialization left and right is to index; Left-hand index point standard baud rate table maximal value direction, dextrad index point standard baud rate table minimum value direction;
IV-12, judge the direction of search;
If last time search is for dextrad, and left-hand search do not reach maximal value, switches to left-hand, extracts next baud rate;
If last time search was dextrad, but left-hand search maximal value is on probation, the current dextrad that still keeps, extracts next baud rate;
If last time search is for left-hand, and dextrad search do not reach minimum value, switches to dextrad, extracts next baud rate;
If last time search was left-hand, but dextrad search minimum value is on probation, the current left-hand that still keeps, extracts next baud rate.
Compared with prior art, the advantage of the method for a kind of CAN bus of the present invention baud rate self-adapting is: the baud rate measured value that obtains approaching coupling by measuring baud rate bit time, and then mate with baud rate measured value and corresponding probable value thereof, can obtain fast the baud rate of coupling.It fails to match for even possible 1 to 5 times of baud rate measured value, and in standard baud rate table, centered by baud rate measured value, the search of dichotomy the right and left poll also can comparatively fast obtain mating baud rate.The baud rate polling method of comparing common, the present invention can navigate to actual baud rate rapidly, may occur hardly traveling through whole standard baud rate table and just find the situation of mating baud rate, has saved the adaptive time, has improved efficiency.
Brief description of the drawings
Fig. 1 is the process flow diagram of the embodiment of the method for this CAN bus baud rate self-adapting;
Fig. 2 is the process flow diagram that the embodiment of the method for this CAN bus baud rate self-adapting is measured baud rate;
Fig. 3 is the process flow diagram that the embodiment of the method dichotomy left and right poll of this CAN bus baud rate self-adapting obtains next baud rate value.
Embodiment
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing, the specific embodiment of the present invention is further described.
The embodiment of the method for this CAN bus baud rate self-adapting, primary controller connects CAN equipment by Serial Peripheral Interface (SPI), controls the work of CAN equipment, and CAN equipment connection is in CAN bus, receives from the data of CAN bus or sends data to CAN bus; As shown in Figure 1, concrete steps are as follows for this method process flow diagram:
I, measurement baud rate
Primary controller is furnished with input capture module and timer, and input capture module and timer are measured the baud rate bit time in CAN bus, obtain baud rate measured value;
The flow process of the baud rate bit time measuring method in described CAN bus is as shown in Figure 2, specific as follows:
The input capture module of I-1, primary controller is set as each edge and catches timer value, and the reception pin of CAN equipment is connected to the pin of the input capture module of primary controller, starts timer, and opens input capture interruption;
I-2, in input capture interrupts processing, preserve the timer moment value N that captures individual, this routine N=60;
I-3, baud rate bit time taking the difference of adjacent timer moment value as capturing, catch N-1 baud rate bit time sample, gets the inverse of minimum value in baud rate bit time sample as baud rate measured value;
II, measurement baud rate table
The value of 1～5 times of primary controller calculation procedure I gained baud rate measured value, and these 5 values are separately converted to immediate value in standard baud rate table, wherein exceed the invalid value that is considered as of standard baud rate table scope, remaining A conversion values composition measured baud rate table;
III, the baud rate table of measuring on probation
In baud rate table, certain arranges CAN equipment baud rate without value on probation to measure for III-1, primary controller, and counting on probation adds 1;
III-2, receive the message in CAN bus, judge whether message correctly that CAN equipment receives;
If the message correctly of the CAN bus receiving, enters III-3; If receive the message mistake of CAN bus, enter III-4,
III-3, judge the message correctly that CAN equipment is received, correctly count C cumulative 1, when the value of correct counting C does not reach proper threshold value Y, return to step III-2; When the value of correct counting C reaches proper threshold value Y, the match is successful for baud rate; Self-adaptation completes; This routine proper threshold value Y=3;
III-4, judge that the message that CAN equipment receives is wrong, be built in the error count n of counter of primary controller cumulative 1, correctly count C zero clearing; Judge now whether the value of error count n reaches the wrong threshold X of meter, if do not reach to the wrong threshold X of meter, return to III-2; If n reaches the wrong threshold X of meter, enter step III-5, wrong threshold X=3 of this example meter;
Whether III-5, judgement counting on probation reach the A value of measuring baud rate table,
If it is all not on probation to measure A value of baud rate table, the error count n zero clearing of the counter of primary controller, returns to step III-1;
If it is all on probation to measure A value of baud rate table, enter step IV;
IV, dichotomy poll are searched
IV-1, in step II, one times of baud rate measured value of gained, in standard baud rate table centered by corresponding conversion values, is searched next baud rate value by the left and right sides, dichotomy Gai center successively poll, resets the baud rate of primary controller;
IV-2, return to step III-2.
As shown in Figure 3, concrete steps are as follows for the flow process that the dichotomy left and right poll of described step IV-1 obtains next baud rate value:
IV-11, in step II, one times of baud rate measured value of gained is in standard baud rate table centered by corresponding conversion values, and initialization left and right is to index; Left-hand index point standard baud rate table maximal value direction, dextrad index point standard baud rate table minimum value direction;
IV-12, judge the direction of search;
If last time search is for dextrad, and left-hand search do not reach maximal value, switches to left-hand, extracts next baud rate;
If last time search was dextrad, but left-hand search maximal value is on probation, the current dextrad that still keeps, extracts next baud rate;
If last time search is for left-hand, and dextrad search do not reach minimum value, switches to dextrad, extracts next baud rate;
If last time search was left-hand, but dextrad search minimum value is on probation, the current left-hand that still keeps, extracts next baud rate.
Above-described embodiment, is only the specific case that object of the present invention, technical scheme and beneficial effect are further described, and the present invention is not defined in this.All any amendments of making, be equal to replacement, improvement etc., within being all included in protection scope of the present invention within scope of disclosure of the present invention.
Claims (6)
1. a method for CAN bus baud rate self-adapting, primary controller connects CAN equipment by Serial Peripheral Interface (SPI), controls the work of CAN equipment, and CAN equipment connection is in CAN bus, receives from the data of CAN bus or sends data to CAN bus; Concrete steps are as follows:
I, measurement baud rate
Primary controller is furnished with input capture module and timer, and input capture module and timer are measured the baud rate bit time in CAN bus, obtain baud rate measured value;
II, measurement baud rate table
The value of 1～5 times of primary controller calculation procedure I gained baud rate measured value, and these 5 values are separately converted to immediate value in standard baud rate table, wherein exceeding the invalid value that is considered as of standard baud rate table scope, remaining conversion values composition is measured baud rate table;
III, the baud rate table of measuring on probation
In baud rate table, certain arranges CAN equipment baud rate without value on probation to measure for III-1, primary controller;
III-2, receive the message in CAN bus, judge whether message correctly that CAN equipment receives;
If the message correctly of the CAN bus receiving, enters III-3; If receive the message mistake of CAN bus, enter III-4;
III-3, judge the message correctly that CAN equipment is received, the match is successful for baud rate, and self-adaptation completes;
III-4, judge that the message that CAN equipment receives is wrong, be built in the error count n of counter of primary controller cumulative 1, judge now whether the value of error count n reaches the wrong threshold X of meter, if do not reach to the wrong threshold X of meter, return to III-2; If n reaches the wrong threshold X of meter, enter step III-5;
III-5, judge that whether the value of measuring in baud rate table is all on probation,
If all not on probation, the error count n zero clearing of the counter of primary controller, returns to step III-1;
If all on probation, enter step IV;
IV, dichotomy poll are searched
IV-1, in step II, one times of baud rate measured value of gained, in standard baud rate table centered by corresponding conversion values, is searched next baud rate value by the left and right sides, dichotomy Gai center successively poll, resets the baud rate of primary controller;
IV-2, return to step III-2.
2. the method for CAN bus baud rate self-adapting according to claim 1, is characterized in that:
The wrong threshold X of meter in described step III-4 is set to 2～4.
3. the method for CAN bus baud rate self-adapting according to claim 1, is characterized in that:
Baud rate bit time measuring method described in described step I in CAN bus is specific as follows:
The input capture module of I-1, primary controller is set as each edge and catches timer value, and the reception pin of CAN equipment is connected to the pin of the input capture module of primary controller, starts timer, and opens input capture interruption;
I-2, in input capture interrupts processing, preserve the timer moment value N that captures individual, this routine N=60;
I-3, individual as the baud rate bit time capturing taking the difference of adjacent timer moment value, catch N-1 baud rate bit time sample, get the inverse of minimum value in baud rate bit time sample as baud rate measured value.
4. the method for CAN bus baud rate self-adapting according to claim 1, is characterized in that:
The concrete steps that the dichotomy left and right poll of described step IV-1 obtains next baud rate value are as follows:
IV-11, in step II, one times of baud rate measured value of gained is in standard baud rate table centered by corresponding conversion values, and initialization left and right is to index; Left-hand index point standard baud rate table maximal value direction, dextrad index point standard baud rate table minimum value direction;
IV-12, judge the direction of search;
If last time search is for dextrad, and left-hand search do not reach maximal value, switches to left-hand, extracts next baud rate;
If last time search was dextrad, but left-hand search maximal value is on probation, the current dextrad that still keeps, extracts next baud rate;
If last time search is for left-hand, and dextrad search do not reach minimum value, switches to dextrad, extracts next baud rate;
If last time search was left-hand, but dextrad search minimum value is on probation, the current left-hand that still keeps, extracts next baud rate.
5. the method for CAN bus baud rate self-adapting according to claim 1, is characterized in that:
The scope of described step II Plays baud rate is 1Mbps～5Kbps; When the doubly value of calculating gained baud rate measured value is more than or equal to 1.01M, think that this calculating income value exceeds standard baud rate scope, is considered as invalid value; And be greater than 1M, be less than 1.01 value and be correspondingly converted into 1M.
6. the method for CAN bus baud rate self-adapting according to claim 1, is characterized in that:
Described step III-3 judge after the message correctly that CAN equipment receives, correctly count C cumulative 1, when the value of correct counting C does not reach proper threshold value Y, return to step III-2; When the value of correct counting C reaches proper threshold value Y, the match is successful to determine baud rate, and self-adaptation completes; Described proper threshold value Y is set to 2～4;
In described step III-4, in the time of error count n cumulative 1, correctly count C zero clearing.
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