CN104780064A - Fault detection method of dual-redundancy-channel hot-switching CAN bus - Google Patents
Fault detection method of dual-redundancy-channel hot-switching CAN bus Download PDFInfo
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Abstract
The invention provides a fault detection method of a dual-redundancy-channel hot-switching CAN bus to further improve the working reliability of the dual-redundancy-channel hot-switching CAN bus and detect working conditions of double CAN bus channels. The dual-redundancy-channel hot-switching CAN bus is applied to a dual-redundancy-channel hot-switching CAN bus communication system which comprises CAN nodes and two CAN buses. The fault detection method comprises steps as follows: (1) one of the dual redundancy channels is set as a currently working channel and the other is set as a hot backup channel; (2) a channel switching frame for channel switching initiated by the nodes is set; (3) the CAN node which initiates self-detection is set as a host node, other CAN nodes are set as slave nodes, the host node initiates self-detection by using a self-detection frame, and the slave nodes feed back self-detection confirmation after receiving the self-detection frame; (4) the host node which initiates self-detection receives self-detection confirmation frames of the slave nodes and analyzes and handles faults to determine the faults.
Description
Technical field
The present invention relates to Computer Control Technology field, more specifically, relate to a kind of two redundant channel hot-swap CAN fault detection method.
Background technology
Adopt the net control of traditional single CAN, some inefficacy link can be there is, such as backbone fault, branch line fault, drive circuit fault etc.Therefore, applicant has carried out the hot-swap technical research of two redundant channels.
Two redundant channel hot-swap technology is that a passage of dual CAN bus is as service aisle, another one passage is as Hot Spare people having a common goal, when work at present passage breaks down, be switched to Hot Spare passage, Hot Spare passage works on as service aisle, if passage originally repairs as backup path, if can not repair, identify fault.
Summary of the invention
In order to improve the reliability of two redundant channel hot-swap CAN work further, detect the work quality of dual CAN bus passage, the invention provides a kind of two redundant channel hot-swap CAN fault detection method, described pair of redundant channel hot-swap CAN is used for two redundant channel hot-swap CAN communication system, this communication system comprises CAN node, dual CAN bus, and described fault detection method comprises the steps:
(1) arrange a passage in two redundant channel as work at present passage, another one passage is as Hot Spare passage;
(2) passage bridge frame is set, initiates passage bridge for node;
(3) arranging the CAN node of initiating self-inspection is host node, and other CAN nodes are from node, utilizes self-inspection frame to initiate self-inspection by host node, after node receives self-inspection frame, feed back self-inspection confirmation;
(4) initiate the self-inspection acknowledgement frame of host node reception from node of self-inspection, and carry out fault analysis and handling, determine fault.
Further, step (1) comprises further: when some CAN nodes then initiatively switch to Hot Spare passage when work at present passage sends data failure, simultaneously by Hot Spare passage sendaisle switch frame, all the other nodes also switch to Hot Spare passage after receiving passage bridge frame.
Further, described CAN node comprises uniprocessor, two CAN controller and two CAN driver.
Further, described passage bridge frame is standard frame or expansion frame.
Further, described passage bridge frame, self-inspection frame and self-inspection acknowledgement frame include CAN message identifier and data two parts.
Further, the CAN message identifier of described passage bridge frame is made up of function code and node number.
Further, the data length of described passage bridge frame is 2 bytes.
Further, the data of 2 bytes of described passage bridge frame are: first character joint storage channels number, second byte deposits node number.
Further, the CAN message identifier of described self-inspection frame is 0x180+ node number, and data length is 2 bytes.
Further, the CAN message identifier of described self-inspection acknowledgement frame is 0x180+ node number, and data length is 2 bytes.
The invention has the beneficial effects as follows: adopt CAN fault detection method of the present invention, can detect whether two passages of each node on CAN network exist fault, and can determine that CAN network failure is present in branch line or backbone further.
Accompanying drawing explanation
Fig. 1 shows the FB(flow block) according to detection method of the present invention.
Fig. 2 shows passage bridge frame format.
Fig. 3 shows self-inspection frame format.
Fig. 4 shows self-inspection acknowledgement frame form.
Fig. 5 shows an example of Air conduct measurement handling process.
Embodiment
Two redundant channel hot-swap CAN fault detection methods as shown in Figure 1 comprise the steps:
Wherein, described pair of redundant channel hot-swap CAN is used for two redundant channel hot-swap CAN communication system, and this communication system comprises CAN node, dual CAN bus;
(1) arrange a passage in two redundant channel as work at present passage, another one passage is as Hot Spare passage;
When some CAN nodes then initiatively switch to Hot Spare passage when work at present passage sends data failure, simultaneously by Hot Spare passage sendaisle switch frame, all the other nodes also switch to Hot Spare passage after receiving passage bridge frame.Described CAN node comprises uniprocessor, two CAN controller and two CAN driver.
(2) passage bridge frame is set, initiates passage bridge for node;
CAN has standard frame and expansion frame two kinds of frame types, and standard frame adopts the identifier of 11, and expansion frame adopts the identifier of 29.The frame type of two redundant channel hot-swap CAN network can be standard frame, also can be expansion frame.
The Frame of CAN is primarily of arbitration field, controlling filed and data fields composition.Arbitration field is made up of CAN message identifier, and CAN message identifier is for characterizing the function of this message, and the CAN message identifier of such as passage bridge frame is passage bridge frame for characterizing this Frame, plays arbitration to CAN communication simultaneously.Data fields carries CAN message data.
The passage bridge function of two redundant channel hot-swap CAN is based on designated lane switch frame, and passage bridge frame format is specifically shown in Fig. 2.The CAN message identifier of passage bridge frame is made up of function code 0x100 and node number NodeID.The data length of passage bridge frame is 2 bytes, first character joint storage channels number, and this byte of A channel places 0x55, and this byte of channel B places 0xAA; Second byte deposits node number.
Such as, have node number to be three nodes of 0x3,0x13,0x23 in CAN network, then the CAN message identifier of the Air conduct measurement frame of three nodes is respectively 0x103,0x113,0x123; The passage bridge frame of three node transmissions is as shown in table 1 respectively.
The CAN passage bridge frame example that table 1 three nodes send
(3) arranging the CAN node of initiating self-inspection is host node, and other CAN nodes are from node, utilizes self-inspection frame to initiate self-inspection by host node, after node receives self-inspection frame, feed back self-inspection confirmation;
In bus, any one node can initiate self-inspection, and now this node is as host node, and other nodes are as from node.
Two redundant channel hot-swap CAN fault detection method is based on special self-inspection frame and self-inspection acknowledgement frame, and self-inspection frame and self-inspection acknowledgement frame form are specifically shown in Fig. 3 and Fig. 4.
The CAN message identifier of self-inspection frame is 0x180, and data length is 2 bytes, and first character is saved in depositing function code, and 0x13 represents initiation self-inspection; Second byte is for depositing the cell node number of initiating self-inspection.
The CAN message identifier of self-inspection acknowledgement frame is 0x180+NodeID, and data length is 2 bytes, and first character is saved in depositing function code, and 0x13 represents that self-inspection confirms; Second byte is used for depositing and starts self-inspection success or not mark, and 0x55 represents and starts unsuccessfully, and 0xAA represents and starts successfully.
Such as, have node number to be three nodes of 0x03,0x13,0x23 in CAN network, node number is that the node of 0x03 initiates self-inspection, and other node feeding back self-inspections confirm.Then the CAN message identifier of the self-inspection frame of three nodes is respectively 0x180,0x193,0x1a3; Self-inspection frame and the self-inspection acknowledgement frame of three node transmissions are as shown in table 2.
The self-inspection frame that table 2 three nodes send and self-inspection acknowledgement frame example
(4) initiate the self-inspection acknowledgement frame of host node reception from node of self-inspection, and carry out fault analysis and handling, determine fault.
A detection example is provided below in conjunction with Fig. 5:
First host node obtains the channel number of work at present, initiates self-inspection at work at present passage, after receiving host node self-inspection frame, sends self-inspection acknowledgement frame from node.
After host node is sent completely self-inspection frame, most long delay 0.5 second, if do not receive any self-inspection acknowledgement frame from node within this time, be defined as this node work at present channel failure, otherwise the self-inspection acknowledgement frame not receiving which node then determines the work at present channel failure of this node.
Host node is again according to respectively judging further from the self-inspection acknowledgement frame place passage of node feeding back, if all self-inspection acknowledgement frames from node feeding back are all from Hot Spare passage, then determine that (host node Hot Spare passage does not receive the passage bridge frame that other nodes send to host node Hot Spare channel failure, so there is no be switched to Hot Spare passage), otherwise the self-inspection acknowledgement frame of which node feeding back from Hot Spare passage then determine this node work at present channel failure (this node work at present passage do not receive other nodes send passage bridge frame, so there is no be switched to work at present passage).
All nodes are switched to Hot Spare passage and repeat above-mentioned testing process by host node again sendaisle switch frame.
The mode illustrated with word and accompanying drawing above illustrates the structure of some embodiments of the present invention, not exhaustive or be limited to concrete form described above.It should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention, can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (10)
1. a two redundant channel hot-swap CAN fault detection method, described pair of redundant channel hot-swap CAN is used for two redundant channel hot-swap CAN communication system, this communication system comprises CAN node, dual CAN bus, and described fault detection method comprises the steps:
(1) arrange a passage in two redundant channel as work at present passage, another one passage is as Hot Spare passage;
(2) passage bridge frame is set, initiates passage bridge for node;
(3) arranging the CAN node of initiating self-inspection is host node, and other CAN nodes are from node, utilizes self-inspection frame to initiate self-inspection by host node, after node receives self-inspection frame, feed back self-inspection confirmation;
(4) initiate the self-inspection acknowledgement frame of host node reception from node of self-inspection, and carry out fault analysis and handling, determine fault.
2. fault detection method according to claim 1, it is characterized in that, step (1) comprises further: when some CAN nodes then initiatively switch to Hot Spare passage when work at present passage sends data failure, simultaneously by Hot Spare passage sendaisle switch frame, all the other nodes also switch to Hot Spare passage after receiving passage bridge frame.
3. fault detection method according to claim 1, is characterized in that, described CAN node comprises uniprocessor, two CAN controller and two CAN driver.
4. fault detection method according to claim 1, is characterized in that, described passage bridge frame is standard frame or expansion frame.
5. fault detection method according to claim 1, is characterized in that, described passage bridge frame, self-inspection frame and self-inspection acknowledgement frame include CAN message identifier and data two parts.
6. fault detection method according to claim 5, is characterized in that, the CAN message identifier of described passage bridge frame is made up of function code and node number.
7. fault detection method according to claim 5, is characterized in that, the data length of described passage bridge frame is 2 bytes.
8. fault detection method according to claim 7, is characterized in that, the data of 2 bytes of described passage bridge frame are: first character joint storage channels number, second byte deposits node number.
9. fault detection method according to claim 6, is characterized in that, the CAN message identifier of described self-inspection frame is 0x180+ node number, and data length is 2 bytes.
10. fault detection method according to claim 1, is characterized in that, the CAN message identifier of described self-inspection acknowledgement frame is 0x180+ node number, and data length is 2 bytes.
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| CN104954215A (en) * | 2015-07-29 | 2015-09-30 | 天津市英贝特航天科技有限公司 | CAN bus circuit |
| CN105406982A (en) * | 2015-10-20 | 2016-03-16 | 北京电子工程总体研究所 | CAN bus double redundancy heat backup method |
| CN107070762A (en) * | 2017-03-13 | 2017-08-18 | 北京航天自动控制研究所 | A kind of fault detect for taking into account 1553B double character coupling performance monitorings and switching method |
| CN108068845A (en) * | 2017-11-14 | 2018-05-25 | 北京全路通信信号研究设计院集团有限公司 | Wireless communication/the method and device of control unit Hot Spare, storage medium |
| CN108082221A (en) * | 2017-11-14 | 2018-05-29 | 北京全路通信信号研究设计院集团有限公司 | The method and device of vehicle-mounted TCR Hot Spares, computer-readable medium |
| CN108227474A (en) * | 2016-12-13 | 2018-06-29 | 中核控制系统工程有限公司 | Safety level DCS platform zero propagation redundancy switching methods |
| CN109245864A (en) * | 2018-11-27 | 2019-01-18 | 威海威高生物科技有限公司 | ETH-CAN communication front-end detection device and wrong self checking method based on self feed back |
| CN111614532A (en) * | 2020-05-13 | 2020-09-01 | 湖北三江航天万峰科技发展有限公司 | CAN redundant communication system based on DSP |
| WO2021027644A1 (en) * | 2019-08-13 | 2021-02-18 | 南京芯驰半导体科技有限公司 | Safety bus system based on reduncancy and heterogeneity |
| CN115038136A (en) * | 2022-05-25 | 2022-09-09 | 中国科学院国家空间科学中心 | Multichannel adaptive bandwidth switching method and system |
| WO2023020458A1 (en) * | 2021-08-20 | 2023-02-23 | 广州小鹏汽车科技有限公司 | Communication method, electronic apparatus, vehicle, and storage medium |
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| CN108082221A (en) * | 2017-11-14 | 2018-05-29 | 北京全路通信信号研究设计院集团有限公司 | The method and device of vehicle-mounted TCR Hot Spares, computer-readable medium |
| CN109245864A (en) * | 2018-11-27 | 2019-01-18 | 威海威高生物科技有限公司 | ETH-CAN communication front-end detection device and wrong self checking method based on self feed back |
| CN109245864B (en) * | 2018-11-27 | 2023-09-19 | 威海威高生物科技有限公司 | ETH-CAN communication front-end detection device based on self-feedback and error self-detection method |
| WO2021027644A1 (en) * | 2019-08-13 | 2021-02-18 | 南京芯驰半导体科技有限公司 | Safety bus system based on reduncancy and heterogeneity |
| CN111614532A (en) * | 2020-05-13 | 2020-09-01 | 湖北三江航天万峰科技发展有限公司 | CAN redundant communication system based on DSP |
| WO2023020458A1 (en) * | 2021-08-20 | 2023-02-23 | 广州小鹏汽车科技有限公司 | Communication method, electronic apparatus, vehicle, and storage medium |
| CN115038136A (en) * | 2022-05-25 | 2022-09-09 | 中国科学院国家空间科学中心 | Multichannel adaptive bandwidth switching method and system |
| CN115038136B (en) * | 2022-05-25 | 2024-04-09 | 中国科学院国家空间科学中心 | Multi-channel self-adaptive bandwidth switching method and system |
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