CN104678918A - CANOPEN main control equipment based on PC104 bus and control method of CANOPEN main control equipment - Google Patents
CANOPEN main control equipment based on PC104 bus and control method of CANOPEN main control equipment Download PDFInfo
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- CN104678918A CN104678918A CN201310635377.XA CN201310635377A CN104678918A CN 104678918 A CN104678918 A CN 104678918A CN 201310635377 A CN201310635377 A CN 201310635377A CN 104678918 A CN104678918 A CN 104678918A
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- canopen
- bus
- interface circuit
- protocol controller
- address information
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
- G05B19/4185—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the network communication
- G05B19/41855—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the network communication by local area network [LAN], network structure
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention provides CANOPEN main control equipment based on a PC104 bus and a control method for the CANOPEN main control equipment. The equipment comprises a PC104 single-board computer, a CANOPEN main station communication card and a power supply board, wherein the PC104 single board is connected with the CANOPEN main station communication card through the PC104 bus; the CANOPEN main station communication card comprises a CANOPEN protocol controller, a PC104 bus interface circuit formed by a logic door circuit, an address converter, a latch and a buffer; an input end of the PC104 bus interface circuit is connected with the PC104 bus; an output end of the PC104 bus interface is connected with the address converter, the latch, the buffer and the CANOPEN protocol controller respectively; the input end of the power supply board is connected with an external power supply; an output end of the power supply board is connected with the PC104 single board computer and the CANOPEN main station communication card. A universal CANOPEN main station communication card with the PC104 bus interface is expanded on the PC104 single-board computer, so that the CANOPEN protocol controller controls timing sequence to be fully completed through the logic door gate without participation of the programmable equipment, and thus, the equipment is convenient to update and maintain.
Description
Technical field
The present invention relates to the network control unit technology of the rolling stock based on CANOPEN network technology, particularly relate to a kind of CANOPEN main control equipment and control method of Based PC 104 bus.
Background technology
Due to the advantage of the many aspects such as reliability, real-time, low cost, anti-interference, compatibility, CAN-bus (CAN-BUS and CAN technology, full name is " Controller Area Network BUS technology Controller Area Network-BUS ", Can-Bus bussing technique is used in the communication of the weapon such as aircraft, tank electronic system the earliest, this technology is used for motor vehicles for civilian use and originates from Europe the earliest, the transmission of this bus network various sensing data on car on automobile.) with its upper-layer protocol CANOPEN (be the high-rise communications protocol of a kind of framework on control area net（CAN） road " Control Area Network; i.e. CAN ", comprise communication son agreement and equipment agreement often use in embedded systems, also be a kind of fieldbus that Industry Control is commonly used) become the standard of vehicle data communication system, and be widely used in all removable facilities, such as subway train, boats and ships naval vessels, elevator, heavy-duty vehicle, engineering machinery, kinematic system, distributed control network etc.The factory commercial city of most general purpose I/O module, driver, intelligent sensor, PLC provides support the product of CAN-bus and CANOPEN standard.As long as meet the system of CANOPEN consensus standard and device protocol subset standard thereof, interoperability and the interchangeability of each vendor equipment just can be ensured in function and interface.
CANOPEN standard defines application layer, communicator agreement and various using standard, the main control equipment of CANOPEN and from these specifications of the equal demand fulfillment of equipment.
Existing CANOPEN main control equipment generally adopts the processor carrying CAN protocol controller or the processor being completed the conversion of external CAN protocol controller timing by programmable logic device (PLD); The processor processing power carrying CAN protocol controller is not enough, is difficult to more than 100MIPS, and the peripheral hardware resource-constrained such as RAM, flash; Processor that external CAN protocol controller timing changes is completed by the renewal of programmable logic device (PLD) program to meet CAN protocol controller read/write cycles sequential by programmable logic device (PLD), need update processors and programmable logic device (PLD) two place program, maintainability is not strong.
Summary of the invention
The invention provides a kind of CANOPEN main control equipment and control method of Based PC 104 bus, for overcoming defect of the prior art, greatly strengthening the maintainability of main control equipment.
The invention provides a kind of CANOPEN main control equipment of Based PC 104 bus, comprising:
PC104 single board computer, is linked by PC104 bus and CANOPEN master station communication and connects;
Described CANOPEN master station communication card, comprises PC104 bus interface circuit, address translator, latch, buffer and CANOPEN protocol controller, described PC104 bus interface circuit, address translator, latch, slow fill device and is formed by logic gates; Described PC104 bus interface circuit input end connects described PC104 bus, and output terminal connects described address translator, latch, buffer and described CANOPEN protocol controller respectively;
Power panel, input end connects external power source, and output terminal connects described PC104 single board computer and CANOPEN master station communication card respectively, powers to PC104 single board computer and CANOPEN master station communication card for external power source being converted to operating voltage.
The present invention also provides a kind of CANOPEN control method of Based PC 104 bus, comprises and writes card step and Card Reader step, wherein:
Described card step of writing comprises the following steps:
Step S1, PC104 single board computer generates control signal according to the input of operator, described control signal to PC104 interface circuit input end, comprising the steering order for controlling described CANOPEN protocol controller sequential by PC104 bus transfer, being used to specify the identification address information that described CANOPEN protocol controller receives and the reference address information of equipment of specifying access for operator in described control signal;
Step S2, described address translator obtains described control signal from described PC104 interface circuit input end, and whether more described identification address information is identical with preset address information, if the same simultaneously conducting PC104 interface circuit output terminal and described latch and PC104 interface circuit output terminal and described buffer, carries out following step; If difference, disconnect PC104 interface circuit output terminal and described latch and PC104 interface circuit output terminal and described buffer simultaneously;
Step S4, identification address information described in described latch record, and this identification address information is sent to described CANOPEN protocol controller;
Step S5, the described steering order received writes in described CANOPEN protocol controller by described buffer;
Described Card Reader step comprises the following steps:
Step W1, described CANOPEN protocol controller receives the reverse control signal coming from external unit;
Step W2, described reverse control signal reads in described PC104 interface circuit through described buffer, and then reads in PC104 bus;
In CANOPEN protocol controller, the control command for controlling external unit is finally formed through the repeatedly above-mentioned alternate cycles writing card step and Card Reader step.
The CANOPEN main control equipment of Based PC 104 bus provided by the invention and control method, by on PC104 single board computer, expand a general CANOPEN master station communication card with PC104 bus interface, thus realize the equipment with CANOPEN mastering capability, complete the bus function of tonic chord of CANOPEN; Wherein CANOPEN protocol controller can adopt the chip of CAN controllers, and CANOPEN protocol controller Control timing sequence is completed by logic gates completely, participates in without the need to programmable device, convenient renewal and maintenance.
Accompanying drawing explanation
The hardware block diagram of the main control equipment that Fig. 1 provides for the embodiment of the present invention one;
The signal flow graph of the main control equipment that Fig. 2 provides for the embodiment of the present invention one;
The circuit diagram of the main control equipment that Fig. 3 provides for the embodiment of the present invention one;
The signal flow graph of the main control equipment that Fig. 4 provides for the embodiment of the present invention two;
The circuit diagram of the main control equipment that Fig. 5 provides for the embodiment of the present invention two;
The software flow pattern of the main control equipment that Fig. 6 provides for the embodiment of the present invention one.
Embodiment
Embodiment one
As Figure 1-3, the embodiment of the present invention provides a kind of CANOPEN main control equipment of Based PC 104 bus, comprise PC104 single board computer 1, CANOPEN master station communication card 2 and power panel 3, PC104 single board computer 1 to be connected with CANOPEN master station communication card 2 by PC104 bus; PC104 bus comprises control bus 41, address bus 42 and data bus 43; CANOPEN master station communication card 2 comprises PC104 bus interface circuit 21, address translator 22, latch 23, buffer 24 and CANOPEN protocol controller 25, PC104 bus interface circuit 21, address translator 22, latch 23, slow fill device 24 and formed by logic gates; PC104 bus interface circuit 21 input end connects PC104 bus, and PC104 bus interface circuit 21 output terminal is link address converter 22, latch 23, buffer 24 and CANOPEN protocol controller 25 respectively; Power panel 3 input end connects external power source, and power panel 3 output terminal connects PC104 single board computer 1 and CANOPEN protocol controller respectively, powers to PC104 single board computer and CANOPEN master station communication card 2 for external power source being converted to operating voltage.CANOPEN master station communication card 2 is provided with CANOPEN interface 20, CANOPEN interface 20 for being connected with external unit by CAN.
Power panel realizes the conversion between outside DC110/24V and operating voltage DC5V, powers to PC104 single board computer 1 and CANOPEN master station communication card 2; It is integrated that PC104 single board computer realizes CANOPEN master control code, realizes the application layer of master control code, simultaneously by control bus, address bus, data bus access CANOPEN master station communication card 2; Physical layer and the data link layer of CANOPEN protocol controller 25 is realized based on CANOPEN master station communication card 2.
Address translator 22 obtains the read/write address etc. of control signal from PC104 bus, reference address and the steering order of latch and buffer equipment of acquisition appointment access respectively from PC104 interface circuit is controlled through logical transition, namely the reference address exported through latch and buffer and steering order can access CANOPEN protocol controller SJA1000, thus complete data link layer and the Physical layer of CANOPEN agreement.SJA1000 communication interface card inside in the present invention does not have programmable logic device (PLD), has 74 series gates to complete chip controls logic completely.
The CANOPEN main control equipment of above-mentioned Based PC 104 bus, by the control of following control method realization to external unit, comprises and writes card step S and Card Reader step W, wherein:
Write card step S as shown in filled arrows in Fig. 2, comprise the following steps:
Step S1, PC104 single board computer 1 generates control signal according to the input of operator, control signal by PC104 bus transfer to PC104 interface circuit 21 input end, comprise in control signal for control CANOPEN protocol controller sequential steering order, be used to specify the identification address information that CANOPEN protocol controller receives and the reference address information of equipment of specifying access for operator;
Steering order is transmitted to buffer 24 by data bus 43; Identification address information is transmitted to address translator 22 by control bus 41, and reference address information is transmitted to latch 23 by address bus 42;
Step S2, address translator 22 obtains identification address information from PC104 interface circuit 21 input end, and whether relative discern address information is identical with preset address information, if the same simultaneously conducting PC104 interface circuit 21 output terminal and latch 23 and PC104 interface circuit 21 output terminal and buffer 24, carries out following step; If identification address information is different from preset address information, disconnect PC104 interface circuit output terminal and latch and PC104 interface circuit output terminal and buffer simultaneously;
The I/O that preset address information source provides in address translator 22 holds address,
Step S3, latch 23 records identification address information, and this identification address information is sent to CANOPEN protocol controller 25;
Step S4, the steering order received writes in CANOPEN protocol controller 25 by buffer 24;
Card Reader step W, as shown in Fig. 2 hollow core arrow, comprises the following steps:
Step W1, CANOPEN protocol controller 25 receives the reverse control signal coming from external unit;
Step W2, reverse control signal reads in PC104 interface circuit 21 through buffer 24, and then reads in PC104 bus;
In CANOPEN protocol controller 25, the control command for controlling external unit is finally formed through the repeatedly above-mentioned alternate cycles writing card step S and Card Reader step W.
The semi-conductor chip SJA1000 that CANOPEN protocol controller 25 adopts NXP company to produce, SJA1000 is address bus, data bus time-sharing multiplex, PC104 interface circuit has special address bus 42 and data bus 43, PC104 bus is to the access of chip SJA1000, need, by twice PC104 bus operation, to complete once to the read or write of chip SJA1000.
Address bus is sent into, through this address of latches in the address accessing the external unit that will access for the first time; Data (steering order) through buffer buffer memory, and are write chip SJA1000 by back-call, complete once to the write operation of chip SJA1000;
Address bus is sent into, through this address of latches in the address accessing the external unit that will access for the first time; Data (steering order) through buffer buffer memory, are read in data bus from chip SJA1000 by back-call.
Primary processor adopts Intel Celeron platform, and dominant frequency is 400MHz and embeds VxWorks system, and system stability can be made to carry out task control fast, and makes equipment also have better dirigibility and expandability on application layer software.
PC104 bus applies more one in industrial-controlled general line.CAN communication controller is articulated in PC104 bus, realizes processor plate cartoon and cross PC104 bus to CANOPEN data communication, complete to each CANOPEN from the communication of node and control, thus complete CANOPEN master control system.
As shown in Figure 6, after system starts, enter initialization CAN driving, CANOPEN protocol stack flow process, and start NMT state machine; Then read DCF file, use the parameter in DCF file to build object dictionary, by SDO HRP-configured slave device, now complete pre-operarion state, send NMT startup command, enter operational state; In operational state, complete the transmitting-receiving of PDO process data, the transmitting-receiving of SDO message data, monitor the heartbeat message from node simultaneously, and carry out urgent frame process.When receiving stop order, main control equipment stops main control equipment function.
The CANOPEN main control equipment of Based PC 104 bus provided by the invention and control method, by on PC104 single board computer, expand a general CANOPEN master station communication card with PC104 bus interface, thus realize the equipment with CANOPEN mastering capability, complete the bus function of tonic chord of CANOPEN; Wherein CANOPEN protocol controller can adopt the chip of CAN controllers, and be preferably SJA1000 chip, the Control timing sequence of CANOPEN protocol controller is completed by logic gates completely, participates in without the need to programmable device, convenient renewal and maintenance.
Embodiment two
As shown in Figure 4, Figure 5, as the optimal way of the CANOPEN main control equipment of above-mentioned Based PC 104 bus, PC104 single board computer input end has Ethernet interface 11 and RS232 interface 12.
The present invention, except realizing CANOPEN Master function, also comprises RS485 bus, RS232, Ethernet interface.Ethernet communication realizes the download program of module, normal ethernet communication, and RS232 realizes device start condition monitoring, module device parameter configuration and normal RS232 communication, and RS485 bus realizes the communication of equipment and other RS485 bus apparatus.CANOPEN main device module Software for Design adopts OpenPCS Integrated Development Environment, and OpenPCS programming development environment meets the program composition standard of IEC61131-3 industrial automation system, facilitates application program and the control algolithm of User Exploitation reality.
As the improvement further of above-described embodiment, as shown in Figure 4, Figure 5, address translator 22 comprises digital comparator 22a and read-write converter 22b, and read-write converter 22b input end connects digital comparator 22a, and read-write converter 22b output terminal connects latch 23 and buffer 24 respectively.
The CANOPEN main control equipment of above-mentioned Based PC 104 bus, by the control of following control method realization to external unit, comprises and writes card step S and Card Reader step W, wherein:
Write card step S as shown in filled arrows in Fig. 4, comprise the following steps:
Step S1, PC104 single board computer 1 generates control signal according to the input of operator, control signal by PC104 bus transfer to PC104 interface circuit 21 input end, comprise in control signal for control CANOPEN protocol controller sequential steering order, be used to specify the identification address information that CANOPEN protocol controller receives and the reference address information of equipment of specifying access for operator;
Steering order is transmitted to buffer 24 by data bus 43; Identification address information is transmitted to address translator 22 by control bus 41, and reference address information is transmitted to latch 23 by address bus 42;
Step S2, digital comparator obtains identification address information from PC104 interface circuit input end; Read-write converter obtains identification address information from digital comparator, whether read-write converter relative discern address information is identical with preset address information, if the same simultaneously conducting PC104 interface circuit output terminal and latch and PC104 interface circuit output terminal and buffer, carries out following step; If difference, disconnect PC104 interface circuit output terminal and latch and PC104 interface circuit output terminal and buffer simultaneously;
Step S3, latch 23 records identification address information, and this identification address information is sent to CANOPEN protocol controller 25;
Step S4, the steering order received writes in CANOPEN protocol controller 25 by buffer 24;
Card Reader step W, as shown in Fig. 2 hollow core arrow, comprises the following steps:
Step W1, CANOPEN protocol controller 25 receives the reverse control signal coming from external unit;
Step W2, reverse control signal reads in PC104 interface circuit 21 through buffer 24, and then reads in PC104 bus;
In CANOPEN protocol controller 25, the control command for controlling external unit is finally formed through the repeatedly above-mentioned alternate cycles writing card step S and Card Reader step W.
Due to PC104 regulation, the operation address of peripheral hardware is A [9:0], will prevent address conflict in Design of System Software; Use A0 ~ A9 address bit to represent I/O port address in PC104,1024 port address can be had, front 512 for system board, rear 512 for expansion slot; For a PC104 processor, its I/O port address may be taken by specific peripheral hardware, and the present invention realizes I/O port address gating by digital comparator 22a and read-write converter 22b.Change the I/O port address that 0 resistance changes communication interface card, also wire jumper can be set on board.Certainly, through simply changing, also the communication interface card with interfaces such as PCI, ISA can be completed.
Last it is noted that above each embodiment is only in order to illustrate technical scheme of the present invention, be not intended to limit; Although with reference to foregoing embodiments to invention has been detailed description, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein some or all of technical characteristic; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the scope of various embodiments of the present invention technical scheme.
Claims (6)
1. a CANOPEN main control equipment for Based PC 104 bus, is characterized in that, comprising:
PC104 single board computer, is linked by PC104 bus and CANOPEN master station communication and connects;
Described CANOPEN master station communication card, comprise PC104 bus interface circuit, address translator, latch, buffer and CANOPEN protocol controller, described PC104 bus interface circuit, address translator, latch be gentle to be filled device and is formed by logic gates; Described PC104 bus interface circuit input end connects described PC104 bus, and described PC104 bus interface circuit output terminal connects described address translator, latch, buffer and CANOPEN protocol controller respectively;
Power panel, input end connects external power source, and output terminal connects described PC104 single board computer and CANOPEN master station communication card respectively, and power panel is used for converting external power source to operating voltage and powering to PC104 single board computer and CANOPEN master station communication card.
2. the CANOPEN main control equipment of Based PC 104 bus according to claim 1, is characterized in that, described CANOPEN protocol controller is SJA1000 chip.
3. the CANOPEN main control equipment of Based PC 104 bus according to claim 1 and 2, it is characterized in that, described address translator comprises digital comparator and read-write converter, described read-write switch input connects described digital comparator, and output terminal connects described latch and buffer respectively.
4. the CANOPEN main control equipment of Based PC 104 bus according to claim 1 and 2, is characterized in that, described PC104 single board computer input end has Ethernet interface and RS232 interface.
5. a CANOPEN control method for Based PC 104 bus, is characterized in that:
Comprise and write card step and Card Reader step, wherein:
Described card step of writing comprises the following steps:
Step S1, PC104 single board computer generates control signal according to the input of operator, described control signal to PC104 interface circuit input end, comprising the steering order for controlling described CANOPEN protocol controller sequential by PC104 bus transfer, being used to specify the identification address information that described CANOPEN protocol controller receives and the reference address information of equipment of specifying access for operator in described control signal;
Step S2, described address translator obtains described identification address information from described PC104 interface circuit input end, and whether more described identification address information is identical with preset address information, if the same simultaneously conducting PC104 interface circuit output terminal and described latch and PC104 interface circuit output terminal and described buffer, carries out following step; If difference, disconnect PC104 interface circuit output terminal and described latch and PC104 interface circuit output terminal and described buffer simultaneously;
Step S4, identification address information described in described latch record, and this identification address information is sent to described CANOPEN protocol controller;
Step S5, the described steering order received writes in described CANOPEN protocol controller by described buffer;
Described Card Reader step comprises the following steps:
Step W1, described CANOPEN protocol controller receives the reverse control signal coming from external unit;
Step W2, described reverse control signal reads in described PC104 interface circuit through described buffer, and then reads in PC104 bus;
In CANOPEN protocol controller, the control command for controlling external unit is finally formed through the repeatedly above-mentioned alternate cycles writing card step and Card Reader step.
6. the CANOPEN control method of Based PC 104 bus according to claim 5, is characterized in that, described address translator comprises digital comparator and read-write converter, and described step S2 comprises:
Described digital comparator obtains described identification address information from described PC104 interface circuit input end; Described read-write converter obtains described identification address information from described digital comparator, whether described read-write converter more described identification address information is identical with preset address information, if the same simultaneously conducting PC104 interface circuit output terminal and described latch and PC104 interface circuit output terminal and described buffer, carries out following step; If difference, disconnect PC104 interface circuit output terminal and described latch and PC104 interface circuit output terminal and described buffer simultaneously.
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| CN201310635377.XA CN104678918B (en) | 2013-11-28 | 2013-11-28 | CANOPEN main control devices and control method based on PC104 buses |
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| CN201310635377.XA CN104678918B (en) | 2013-11-28 | 2013-11-28 | CANOPEN main control devices and control method based on PC104 buses |
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| CN109507931A (en) * | 2018-12-13 | 2019-03-22 | 中电智能科技有限公司 | Communication card based on CAN open communication protocol |
| CN112764982A (en) * | 2021-01-25 | 2021-05-07 | 上海机电工程研究所 | Bus module connection method and system based on PC104 architecture |
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| Publication number | Publication date |
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| CN104678918B (en) | 2017-09-19 |
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