CN105187227A - Device utilizing RMAP protocol to realize plug-and-play function of CAN bus equipment - Google Patents
Device utilizing RMAP protocol to realize plug-and-play function of CAN bus equipment Download PDFInfo
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- CN105187227A CN105187227A CN201510320758.8A CN201510320758A CN105187227A CN 105187227 A CN105187227 A CN 105187227A CN 201510320758 A CN201510320758 A CN 201510320758A CN 105187227 A CN105187227 A CN 105187227A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
- H04L41/08—Configuration management of networks or network elements
- H04L41/0803—Configuration setting
- H04L41/0806—Configuration setting for initial configuration or provisioning, e.g. plug-and-play
- H04L41/0809—Plug-and-play configuration
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L1/00—Arrangements for detecting or preventing errors in the information received
- H04L1/004—Arrangements for detecting or preventing errors in the information received by using forward error control
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40052—High-speed IEEE 1394 serial bus
- H04L12/40123—Interconnection of computers and peripherals
Abstract
The invention discloses a device utilizing an RMAP protocol to realize the plug-and-play function of CAN bus equipment. The device comprises an RMAP object node controller, a CAN bus controller, a SpaceWire data interface module and an asynchronous data transceiving dual-port RAM, wherein external CAN bus interface sensing equipment is connected with the CAN bus controller, the asynchronous data transceiving dual-port RAM, the RMAP object node controller and the SpaceWire data interface module, the RMAP object node controller comprises an object command packet decoding module, a verification control module and an object node controller module, a DMA module, an object response packet coding module and a CRC data verification module, and the SpaceWire data interface module is connected with a satellite-borne computer and the RMAP object node controller. The device is advantaged in that, the RMAP object node controller is realized through an IP soft core, data conversion efficiency and data transmission timeliness are improved, and design complexity is effectively reduced.
Description
Technical field
The invention belongs to space technology application, be specifically related to a kind of device applying RMAP protocol realization CAN equipment plug and play.
Background technology
CAN (ControllerAreaNetwork, Controller Area Network BUS) technology has security credibility, be widely used in the transfer of data of space flight and micro-thermoelectric generator, SpaceWire bus is that European Space Agency is based on two commercial standard (CS) IEEE1355-1995 and IEEE1596.3 (LVDS); SpaceWire data/address bus is the backbone network of Future Satellite inner high speed transfer of data.And the sensing equipment on existing a lot of satellite is all developed based on CAN, although, the mode that domestic Patents refer to microprocessor completes the conversion between CAN and SpaceWire data/address bus two kinds of data link layer protocols at software view, but lack CAN and SpaceWire agreement realizes the equipment of data transaction at hardware view, enable CAN equipment rapidly to the network integration of SpaceWire backbone network, realize the reusability and the saving satellite assembling launch cost that improve existing sensing equipment.
A kind of agreement that long-distance inner is accessed based on SpaceWire that RMAP agreement (Remotememoryaccessproocol) is proposed by Ou Hang office, it is the application layer protocol of development plug and play micro-thermoelectric generator network, belongs to the upper-layer protocol of SpaceWire agreement.This RMAP agreement is domestic is also in the research starting stage, is not applied at present on satellite.The main object of RMAP agreement carries out read-write operation to remote storage device, therefore by RMAP protocol application on non-processor data conversion equipment, be the target of future development low-power consumption plug and play satellite node equipment.
External relevant plug and play standard proposes and utilizes RMAP agreement to set up spaceborne internet, spaceborne computer as the initiation node of RMAP order, by the data of all RMAP target node device in the physical address of destination node and destination node storage address accesses network.So utilize RMAP protocol realization Data Format Transform and memory access to provide the integrated means of a kind of satellite network for developing plug and play satellite.
Summary of the invention
The object of the invention is: by application RMAP target node controller, solve the compatible of CAN interface sensing equipment and SpaceWire bus network, achieve the Data Format Transform of CAN interface sensing equipment to SpaceWire bus network and the plug-and-play feature of CAN interface sensing equipment.
Apply a device for RMAP protocol realization CAN equipment plug and play, one end connects outside CAN interface sensing equipment, and the other end connects spaceborne computer or RMAP initiates node device; CAN interface sensing equipment transmission CAN Frame, is transferred to SpaceWire bus network through this device; Spaceborne computer or RMAP initiate node device and send RMAP order bag simultaneously, are sent to CAN network through this device.
This device specifically comprises: RMAP target node controller, CAN controller, SpaceWire data interface module and asynchronous data transmitting-receiving two-port RAM (Random-AccessMemory, random access memory).
CAN controller one end connects outside CAN interface sensing equipment, and the other end and asynchronous data are received and dispatched two-port RAM and be connected; CAN controller by the CAN data frame transfer received and be stored in asynchronous data transmitting-receiving two-port RAM in.
Asynchronous data transmitting-receiving two-port RAM connects CAN controller and RMAP target node controller by data/address bus, address bus, enable control signal simultaneously;
Asynchronous data transmitting-receiving two-port RAM is as the memory of data buffer storage unit, the data stored comprise two parts: Part I is the plug and play configuration information of RMAP target node controller, and Part II is the CAN data frame data of outside CAN interface sensing equipment or the control data of RMAP order bag.
RMAP target node controller one end is connected with SpaceWire data interface module, receives the RMAP request command bag of SpaceWire data interface module input or sends RMAP response packet to SpaceWire data interface module; The other end connects asynchronous data transmitting-receiving two-port RAM, carries out read-write operation to the data in asynchronous data transmitting-receiving two-port RAM;
RMAP target node controller comprises command object bag decoder module, access control module, target node controller module; DMA (DirectMemoryAccess, direct memory access) module, target response packet encoder module and CRC (CyclicalRedundancyCheck, cyclic redundancy check (CRC) code) data check module.
Specific works process is:
Step 1, command object bag decoder module are resolved RMAP request command bag, obtain Read-write Catrol information, address information, data message and are sent to target node controller module, dma module and access control module respectively.
The data transmitted are done CRC check by step 2, access control module in charge, judge that whether the data that receive are wrong, if errorless, data buffer storage are transferred to dma module; Otherwise, enter step 6;
Step 3, target node controller module according to Read-write Catrol information to dma module sending controling instruction; If read command, enter step 4, if write order, enter step 5;
The Read-write Catrol information of RMAP request command bag comprises read command and write order two kinds, controls dma module carry out read-write operation by Read-write Catrol information from asynchronous data transmitting-receiving two-port RAM;
Step 4, dma module, according to the address information of step 1 and read command, read the CAN Frame stored in asynchronous data transmitting-receiving two-port RAM, and pass to target response packet encoder module; Control command after simultaneously read command being completed sends to target node controller module;
Step 5, dma module, according to the address information of step 1 and write order, by the data message after CRC check stored in asynchronous data transmitting-receiving two-port RAM, send control command to CAN controller; Control command after simultaneously being completed by write order sends to target node controller module;
Step 6, target node controller module controls target response packet encoder CMOS macro cell RMAP response packet are sent to SpaceWire data interface module.
When initiation RMAP request command bag is write order, whether successfully the data field of RMAP response packet writes asynchronous data transmitting-receiving two-port RAM state information; When initiation RMAP request command bag is read command, the data field in RMAP response packet is CAN Frame; If the data of access control module CRC check are wrong, the data field in RMAP response packet is that error condition should reach bag.
SpaceWire data interface module comprises transmitter, state machine, receiver, transmission fifo (abbreviation of FirstInputFirstOutput, First Input First Output) module and receives fifo module; This SpaceWire data interface module one end connects spaceborne computer, receives or sends SpaceWire protocol data frame; The other end and RMAP target node controller are linked together by link control signal bus, data/address bus, status indication signal bus, timing code control signal bus, by RMAP target node controller control SpaceWire data interface module working method and state-detection.
A kind of concrete using method of device of the RMAP of application protocol realization CAN equipment plug and play is:
Step one, first to asynchronous data transmitting-receiving two-port RAM be configured;
Address space asynchronous data being received and dispatched the initial 10kb of two-port RAM is assigned to information such as storing external node device descriptive information, network node physical address information, protocol converter operating state, memory imaging; Remaining address space is assigned with as storage payload data, for RMAP target node controller and the read and write access of CAN controller.
Step 2, CAN interface sensing equipment transmission CAN Frame is to CAN controller;
CAN Frame is stored into asynchronous data transmitting-receiving two-port RAM by step 3, CAN controller;
After CAN controller receives CAN Frame, retain effective data field field and be stored in asynchronous data transmitting-receiving two-port RAM, the state information of CAN controller being sent to asynchronous data transmitting-receiving two-port RAM simultaneously.
Step 4, spaceborne computer or RMAP initiate node device and send RMAP request command bag to SpaceWire data interface module.
RMAP request command bag refers to, spaceborne computer or RMAP initiate the SpaceWire protocol data frame that node device sends.
RMAP request command bag is transferred to RMAP target node controller by step 5, SpaceWire data interface module;
RMAP target node controller proceeds as follows:
First, command object bag decoder module is responsible for resolving RMAP order bag, and Read-write Catrol information parsing obtained, address information, data message are sent to target node controller module, dma module and access control module respectively.
Then, the data message obtained is carried out CRC check by access control module, is cached to dma module; Data message be RMAP order bag in data load and CRC payload field.
Step 6, RMAP target node controller carry out read-write operation to asynchronous data transmitting-receiving two-port RAM;
Be specially: when RMAP request command bag is RMAP read command bag, dma module reads the CAN Frame stored in asynchronous data transmitting-receiving two-port RAM;
When RMAP request command bag is RMAP write order bag, dma module carries out work according to address information and write order, by in the data of buffer memory after CRC check write asynchronous data transmitting-receiving two-port RAM, dma module sends control command to CAN controller simultaneously, CAN controller reads the data in asynchronous data transmitting-receiving two-port RAM, and is sent to CAN network.
Step 7, RMAP target node controller send RMAP acknowledgement command bag and initiate node device to spaceborne computer or RMAP;
RMAP target node controller by CAN Frame or will to asynchronous data receive and dispatch in two-port RAM write control command whether successfully state information be packaged into RMAP acknowledgement command bag, be sent to spaceborne computer by SpaceWire data interface module or RMAP initiates node device.
Advantage of the present invention and good effect are:
(1), a kind of device applying RMAP protocol realization CAN equipment plug and play of the present invention, RMAP protocol realization data transaction is utilized in hardware circuit design, this implementation method can save spaceborne system integrating time and cost, and improves reliability and the real-time of DTU (Data Transfer unit).
(2), a kind of device applying RMAP protocol realization CAN equipment plug and play of the present invention, inner all modules all realize with the soft kernel form of IP, all data conversion logical units generated by IP kernel are downloaded to the Virtex5XC5VLX155FPGA inside that Xilinx company produces; The soft core design of this IP of utilization makes hardware circuit plate structure simple, and have low in energy consumption, portable strong, revise the features such as flexible.
(3), a kind of device applying RMAP protocol realization CAN equipment plug and play of the present invention, RMAP destination node recording controller is examined now so that IP is soft, avoid and make the mode of purpose processor to complete protocol conversion, improve conversion efficiency and the transfer of data real-time of data, and effectively reduce design complexities.Also the method that Billy's purpose processor realizes protocol conversion in power consumption has advantage.
Accompanying drawing explanation
Fig. 1 is a kind of apparatus structure schematic diagram applying RMAP protocol realization CAN equipment plug and play of the present invention;
Fig. 2 is CAN data frame format schematic diagram of the present invention;
Fig. 3 is RMAP order bag data frame format schematic diagram of the present invention;
Fig. 4 is RMAP target node controller structural representation of the present invention;
Fig. 5 is SpaceWire data interface module structural representation of the present invention;
Fig. 6 is the method flow diagram that this device of the present invention specifically uses;
Fig. 7 is the method flow diagram of RMAP target node controller of the present invention.
1-CAN bus control unit; 2-asynchronous data transmitting-receiving two-port RAM; 3-RMAP target node controller; 4-SpaceWire data interface module;
301-command object bag decoder module; 302-target response packet encoder module; 303-access control module; 304-DMA module; 305-target node controller module; 306-CRC data check module;
401-transmitter; 402-state machine; 403-receiver; 404-sends fifo module; 405-receives fifo module.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail.
SpaceWire bus belongs to high rate data transmission data/address bus, and bandwidth of operation can reach 200Mbps and can full duplex transmitting-receiving.SpaceWire data reception module has clock restore funcitons, and the DS code signal received can be utilized to recover received data and clock, and therefore data reception clock and tranmitting data register can be in different clock zones and work.CAN belongs to slow data transmission bus, is widely used in industry and aerospace data transmission.Two kinds of interface modules are all realized in FPGA by the soft kernel form of IP, and two modules communicate with the data network corresponding to it respectively, send or receive the packet of corresponding format.
RMAP target node controller realizes SpaceWire upper layer application layer RMAP (remote memory access access) agreement.Therefore utilize RMAP destination node recording controller can complete configuration register, read status information, and read and write access is carried out to the data of its memory.
Apply a device for RMAP protocol realization CAN equipment plug and play, as shown in Figure 1, comprise RMAP target node controller 3, CAN controller 1, SpaceWire data interface module 4 and asynchronous data transmitting-receiving two-port RAM 2.
CAN controller 1 one end connects outside CAN interface sensing equipment, and the other end and asynchronous data are received and dispatched two-port RAM and be connected; CAN interface sensing equipment transmission CAN Frame is to CAN controller 1, and CAN controller 1 is by the transfer of data received and be stored in asynchronous data transmitting-receiving two-port RAM 2.
CAN data frame format, as shown in Figure 2, comprises start bit, arbitration territory, control domain, data field, CRC check territory, response bits and stop bits.
Wherein, CRC check territory has another name called cyclic redundancy check (CRC) position;
After CAN controller 1 receives CAN Frame, abandon the Link States such as useless arbitration territory, CRC check territory and judge field, retain effective data field field, and by data field field store in asynchronous data transmitting-receiving two-port RAM 2.
Asynchronous data transmitting-receiving two-port RAM 2 one end is connected with CAN controller 1 by data/address bus, address bus, enable control signal wire; The other end connects RMAP target node controller 3.
Asynchronous data transmitting-receiving two-port RAM 2 is operated in two clock zones respectively, is connected when carrying out data manipulation and adopts high-frequency clock, be connected when carrying out data read-write operation adopt low frequency clock with CAN controller 1 with RMAP target node controller 3.Utilize the asynchronous read and write RAM of different clock-domains to operate, make at the same time in section RMAP target node controller 3 and CAN controller 1 access RAM resource simultaneously, realize high-speed data and low speed data between two kinds of bus protocols and transmit simultaneously.
Asynchronous data transmitting-receiving two-port RAM 2, as the memory of data buffer storage unit, can store two parts data: Part I is the plug and play configuration information of RMAP target node controller; Part II stores the CAN data frame data of outside CAN interface sensing equipment or the control data of RMAP order bag.
The asynchronous operation of RMAP target node controller 3 and CAN controller 1 pair of memory can be realized by design asynchronous data transmitting-receiving two-port RAM 2.
RMAP target node controller 3 is the hardware control circuits of the application layer RMAP agreement realizing SpaceWire agreement upper strata, as the destination node in RMAP agreement, receive the RMAP order bag that spaceborne computer initiates node, by resolving RMAP order bag and returning the mode transceiving data of RMAP response packet or send control command to CAN interface sensing equipment.
RMAP target node controller 3 one end is received and dispatched two-port RAM 2 with asynchronous data be connected by data/address bus, address bus and enable control signal bus three kinds of data/address bus, carries out read-write operation to the data in asynchronous data transmitting-receiving two-port RAM 2; The other end is connected with SpaceWire data interface module 4, receives the SpaceWire protocol data frame of SpaceWire data interface module 4 input or sends RMAP response packet to SpaceWire data interface module 4;
Spaceborne computer sends RMAP order bag and is transferred to RMAP target node controller 3 through SpaceWire data interface module 4.
The form of RMAP order bag as shown in Figure 3, be made up of SpaceWire Frame, comprise DAF destination address field, destination logical address field, agreement differentiation field, instruction field, cipher key field, response address field, initiate node logical address field, Transaction Identifier field, storage address field, data length field, packet header CRC check field, data load field, data CRC check field and end-of-packet indication field.
RMAP target node controller 3 as shown in Figure 4, comprises command object bag decoder module 301, access control module 303, target node controller module 305, dma module 304, target response packet encoder module 302 and CRC data check cache module 306.
After RMAP target node controller 3 receives request command bag, as shown in Figure 7, specific works process is:
Step 1, command object bag decoder module are responsible for resolving RMAP order bag, and Read-write Catrol information parsing obtained, address information, data message are sent to target node controller module, dma module and access control module respectively.
Described Read-write Catrol information refers to the instruction field that RMAP order is wrapped; Data message refers to data load field; Address information comprises two parts, and Part I is the physical address information of node, refers to DAF destination address field and destination logical address field; Represent the path that packet transmits between spaceborne computer or initiation node.Part II is the address information needing reference to storage, refers to storage address field.
Data load in the RMAP order bag that command object bag decoder module transmits by step 2, access control module and CRC payload field carry out CRC check; Verify that whether the data load field received is correct, if correctly, the data verified are carried out buffer memory by CRC data check cache module, and then by the transfer of data of buffer memory to dma module.If incorrect, error condition is packaged into and should reaches bag accordingly and send to SpaceWire data interface module by target response packet encoder module.
Step 3, target node controller module according to the Read-write Catrol information in step 1 to dma module sending controling instruction; If read command, enter step 4, if write order, enter step 5;
Target node controller module 305 is responsible for reception that controls RMAP order wraps, response and transmission; Read-write Catrol information in the RMAP decoder module that destination node control module 305 receives, Read-write Catrol information comprises read command and write order two kinds, control dma module 304 by Read-write Catrol information and carry out read-write operation from asynchronous data transmitting-receiving two-port RAM 2, the work of control objectives response packet coding module 302 and command object bag decoder module 301 simultaneously.
Step 4, dma module carry out work according to the read command control command of the address information of step 1 and step 3, read the CAN Frame stored in asynchronous data transmitting-receiving two-port RAM, and pass to target response packet encoder module; By read control information complete after control command send to target node controller module;
Dma module 304 is direct access access control unit, according to the address information that step 1 command object bag decoder module 301 transmits, asynchronous data transmitting-receiving two-port RAM 2 is conducted interviews, if Read-write Catrol information is read command, dma module 304 reads the valid data territory field write by CAN controller 1 in asynchronous data transmitting-receiving two-port RAM, and passes to target response packet encoder module 302; Simultaneously by read control information complete after control command send to target node controller module 305;
Step 5, dma module are according to the address information of step 1 and write order, and by the data message after CRC check stored in asynchronous data transmitting-receiving two-port RAM, the control command after simultaneously being completed by write order sends to target node controller module;
If Read-write Catrol information is write order, the data write asynchronous data of step 2 after CRC check is received and dispatched in two-port RAM 2 by dma module 304, sends control command to CAN controller 1; CAN controller 1 reads the data in asynchronous data transmitting-receiving two-port RAM 2, and is sent to CAN network; Uninterruptedly read to facilitate CAN controller 1.
Step 6, target node controller module controls target response packet encoder CMOS macro cell RMAP response packet are sent to SpaceWire data interface module.
When initiation RMAP request command bag is write order, whether successfully the data field of RMAP response packet writes asynchronous data transmitting-receiving two-port RAM 2 state information; When initiation RMAP request command bag is read command, the data field in RMAP response packet is CAN Frame.
The control command that the data load that dma module in step 4 304 is transmitted and target node controller produce is packaged into RMAP response packet and is sent to SpaceWire data interface module 4 by target response packet encoder module 302.
SpaceWire data interface module 4 one end connects spaceborne computer, is responsible for and outside SpaceWire bus communication, receives or sends SpaceWire protocol data frame.The connectivity port of SpaceWire data interface module and outside router or spaceborne computer is by low voltage difference LVDS signal as physical layer signal transmission technology, transmitting data information and clock information.
The SpaceWire data interface module other end and RMAP target node controller 3 are linked together, by RMAP target node controller 3 control SpaceWire data interface module 4 working method and state-detection by link control signal bus, data/address bus, status indication signal bus, timing code control signal bus etc.SpaceWire data interface module 4 inside completes the function such as clock recovery, data transmission and reception, error detection, credit detection, error status flag required in SpaceWire data link layer process of establishing.
SpaceWire data interface module 4 as shown in Figure 5, comprises transmitter 401, state machine 402, receiver 403, sends fifo module 404 and receive fifo module 405.State machine 402 is responsible for the Link State conversion that SpaceWire link communication is shaken hands and link error judges.What transmit in SpaceWire network is serial data, and therefore the serial D S code signal received is carried out the recovery of clock and data by receiver 403, and the data transaction of recovery is become parallel data frame to be stored in reception fifo module 405.Send the SpaceWire data that fifo module 404 buffer memory RMAP target node controller 3 is transferred to, transmitter 401 is responsible for sending SpaceWire Frame to SpaceWire network.
Principle of the present invention comprises read procedure and writes process two kinds, read procedure is: the CAN Frame that CAN controller 1 receives, remove useless link-state information, after extracted valid data load, deposit data is received and dispatched in two-port RAM 2 to asynchronous data.The data that RMAP target node controller 3 reads in asynchronous data transmitting-receiving two-port RAM 2 are packaged into RMAP reply data bag, then RMAP reply data bag are sent to outside SpaceWire network by SpaceWire data interface module 4;
The process of writing is: the RMAP command packet received is sent to RMAP target node controller 3 by SpaceWire data interface module 4, RMAP target node controller 3 extracts the payload field in command packet, and by payload stored in asynchronous data transmitting-receiving two-port RAM 2, CAN controller 1 reads the data in asynchronous data transmitting-receiving two-port RAM 2, sends it to CAN network.
Apply a concrete using method for the device of RMAP protocol realization CAN equipment plug and play, be illustrated in figure 6:
Step one, first to asynchronous data transmitting-receiving two-port RAM be configured;
Address space asynchronous data being received and dispatched the initial 10kb of two-port RAM is assigned to information such as storing external node device descriptive information, network node physical address information, protocol converter operating state, memory imaging.Spaceborne computer or RMAP initiate first to read after node device powers on the information that this 10kb address space stores, and carry out the plug-and-play feature that network configuration and interface configuration can realize external node equipment.Remaining address space is assigned with as storage payload data, for RMAP target node controller and the read and write access of CAN controller.
Step 2, CAN interface sensing equipment transmission CAN Frame is to CAN controller;
CAN data frame format, comprises start bit, arbitration territory, control domain, data field, cyclic redundancy check (CRC) position (CRC check territory), response bits and stop bits.
CAN Frame is stored into asynchronous data transmitting-receiving two-port RAM by step 3, CAN controller;
After CAN controller receives CAN Frame, abandon the Link States such as useless arbitration territory, CRC check territory and judge field, retain effective data field field, and by data field field store in asynchronous data transmitting-receiving dual port RAM module, simultaneously by the running status of CAN controller and whether the state information of mistake be sent to asynchronous data and receive and dispatch dual port RAM module.
Step 4, spaceborne computer or RMAP initiate node device and send RMAP request command bag to SpaceWire data interface module.
SpaceWire protocol data frame constitutes RMAP order bag, comprises DAF destination address field, destination logical address field, agreement differentiation field, instruction field, cipher key field, response address field, initiates node logical address field, Transaction Identifier field, storage address field, data length field, data load field, Data CRC fields and packet header CRC check field etc.
Spaceborne computer or RMAP initiate node device and send the RMAP request command bag that SpaceWire protocol data frame refers to transmission.
RMAP request command bag is transferred to RMAP target node controller by step 5, SpaceWire data interface module;
RMAP request command bag comprises in RMAP read command bag or in write order bag;
Step 6, RMAP target node controller and CAN controller carry out information exchange;
When RMAP request command bag is RMAP read command bag, command object bag decoder module in RMAP target node controller is responsible for resolving RMAP order bag, and Read-write Catrol information parsing obtained, address information, data message are sent to target node controller module, dma module and access control module respectively; Target node controller module according to Read-write Catrol information to dma module sending controling instruction; Dma module carries out work according to address information and control command, is transmitted by address bus, reads the CAN Frame stored in asynchronous data transmitting-receiving two-port RAM; The data of reading are passed to target response packet encoder module; Control command after having read is sent to target node controller module simultaneously; Target node controller module controls target response packet encoder CMOS macro cell RMAP response packet is sent to SpaceWire data interface module; Achieve the function of CAN interface sensing equipment to the Data Format Transform of SpaceWire bus network.
When RMAP request command bag is RMAP write order bag, command object bag decoder module resolves RMAP write order bag, and Read-write Catrol information parsing obtained, address information, data message are sent to target node controller module, dma module and access control module respectively.Target node controller module obtains the write order in Read-write Catrol information and is transferred to dma module, and access control module obtains data message and carries out CRC check, and is cached to dma module.Dma module is according to resolving the address information that obtains and write order carries out work, data message after CRC check is extracted payload field, stored in asynchronous data transmitting-receiving two-port RAM, by address bus and control enable signal transmission line, address information is write asynchronous data transmitting-receiving two-port RAM, send control command to CAN controller, CAN controller reads the data in asynchronous data transmitting-receiving two-port RAM, and is sent to CAN network simultaneously; Realize the plug-and-play feature of CAN interface sensing equipment.Target node controller module controls target response packet encoder CMOS macro cell RMAP response packet is sent to SpaceWire data interface module simultaneously;
Step 7, RMAP target node controller send RMAP acknowledgement command bag and initiate node device to spaceborne computer or RMAP;
RMAP target node controller by the CAN device data that reads out from asynchronous data transmitting-receiving two-port RAM or will write two-port RAM whether successfully state information be packaged into RMAP acknowledgement command bag, then RMAP acknowledgement command bag is sent to spaceborne computer or RMAP initiation node device by SpaceWire data interface module by RMAP target node controller.
When initiation RMAP request command bag is write order, whether successfully the data field of response packet writes asynchronous data transmitting-receiving two-port RAM state information.When initiation RMAP request command bag is read command, the data field in response packet is CAN Frame.
Claims (4)
1. apply a device for RMAP protocol realization CAN equipment plug and play, one end connects outside CAN interface sensing equipment, and the other end connects spaceborne computer or RMAP initiates node device; CAN interface sensing equipment transmission CAN Frame, is transferred to SpaceWire bus network through this device; Spaceborne computer or RMAP initiate node device and send RMAP order bag simultaneously, are sent to CAN network through this device; It is characterized in that,
Described device specifically comprises: RMAP target node controller, CAN controller, SpaceWire data interface module and asynchronous data transmitting-receiving two-port RAM;
CAN controller one end connects outside CAN interface sensing equipment, and the other end and asynchronous data are received and dispatched two-port RAM and be connected; CAN controller by the CAN data frame transfer received and be stored in asynchronous data transmitting-receiving two-port RAM in;
Asynchronous data transmitting-receiving two-port RAM connects CAN controller and RMAP target node controller by data/address bus, address bus, enable control signal simultaneously, and asynchronous data transmitting-receiving two-port RAM is as the memory of data buffer storage unit;
RMAP target node controller one end is connected with SpaceWire data interface module, receives the RMAP request command bag of SpaceWire data interface module input or sends RMAP response packet to SpaceWire data interface module; The other end connects asynchronous data transmitting-receiving two-port RAM, carries out read-write operation to the data in asynchronous data transmitting-receiving two-port RAM;
RMAP target node controller comprises command object bag decoder module, access control module, target node controller module, dma module, target response packet encoder module and CRC data check module;
Command object bag decoder module is resolved RMAP request command bag, and Read-write Catrol information is sent to target node controller module; Address information is sent to dma module; Data message is sent to access control module;
Access control module is transferred to dma module after doing CRC check to the data transmitted;
Target node controller module sends read command and write order two kinds of control commands according to Read-write Catrol information to dma module;
Under read command state: dma module, according to address information and read command, reads the CAN Frame stored in asynchronous data transmitting-receiving two-port RAM, and passes to target response packet encoder module; Control command after simultaneously read command being completed sends to target node controller module;
Under write order state: dma module, according to address information and write order, by the data message after CRC check stored in asynchronous data transmitting-receiving two-port RAM, sends control command to CAN controller; Control command after simultaneously being completed by write order sends to target node controller module;
Target node controller module controls target response packet encoder CMOS macro cell RMAP response packet is sent to SpaceWire data interface module;
SpaceWire data interface module comprises transmitter, state machine, receiver, transmission fifo module and receives fifo module; SpaceWire data interface module one end connects spaceborne computer, receives or sends SpaceWire protocol data frame; The other end is connected with RMAP target node controller, and carry out exchanges data by link control signal bus, data/address bus, status indication signal bus and timing code control signal bus, by RMAP target node controller control SpaceWire data interface module working method and state-detection.
2. a kind of device applying RMAP protocol realization CAN equipment plug and play as claimed in claim 1, it is characterized in that, the data that described asynchronous data transmitting-receiving two-port RAM stores comprise two parts: Part I is the plug and play configuration information of RMAP target node controller, and Part II is the CAN data frame data of outside CAN interface sensing equipment or the control data of RMAP order bag.
3. a kind of device applying RMAP protocol realization CAN equipment plug and play as claimed in claim 1, is characterized in that, described RMAP target node controller specific works process is:
Step 1, command object bag decoder module are resolved RMAP request command bag, obtain Read-write Catrol information, address information, data message and are sent to target node controller module, dma module and access control module respectively;
The data transmitted are done CRC check by step 2, access control module in charge, judge that whether the data that receive are wrong, if errorless, data buffer storage are transferred to dma module; Otherwise, enter step 6;
Step 3, target node controller module according to Read-write Catrol information to dma module sending controling instruction; If read command, enter step 4, if write order, enter step 5;
The Read-write Catrol information of RMAP request command bag comprises read command and write order two kinds, controls dma module carry out read-write operation by Read-write Catrol information from asynchronous data transmitting-receiving two-port RAM;
Step 4, dma module, according to the address information of step 1 and read command, read the CAN Frame stored in asynchronous data transmitting-receiving two-port RAM, and pass to target response packet encoder module; Control command after simultaneously read command being completed sends to target node controller module;
Step 5, dma module, according to the address information of step 1 and write order, by the data message after CRC check stored in asynchronous data transmitting-receiving two-port RAM, send control command to CAN controller; Control command after simultaneously being completed by write order sends to target node controller module;
Step 6, target node controller module controls target response packet encoder CMOS macro cell RMAP response packet are sent to SpaceWire data interface module;
When initiation RMAP request command bag is write order, whether successfully the data field of RMAP response packet writes asynchronous data transmitting-receiving two-port RAM state information; When initiation RMAP request command bag is read command, the data field in RMAP response packet is CAN Frame; If the data of access control module CRC check are wrong, the data field in RMAP response packet is that error condition should reach bag.
4., based on the method realizing CAN equipment plug and play of the device of a kind of RMAP of application protocol realization CAN equipment plug and play according to claim 1, it is characterized in that, comprise the following steps:
Step one, first to asynchronous data transmitting-receiving two-port RAM be configured;
Address space asynchronous data being received and dispatched the initial 10kb of two-port RAM is assigned to and stores external node device descriptive information, network node physical address, protocol converter operating state and memory imaging information; Remaining address space is assigned with as storage payload data, for RMAP target node controller and the read and write access of CAN controller;
Step 2, CAN interface sensing equipment transmission CAN Frame is to CAN controller;
CAN Frame is stored into asynchronous data transmitting-receiving two-port RAM by step 3, CAN controller;
After CAN controller receives CAN Frame, retain effective data field field and be stored in asynchronous data transmitting-receiving two-port RAM, the state information of CAN controller being sent to asynchronous data transmitting-receiving two-port RAM simultaneously;
Step 4, spaceborne computer or RMAP initiate node device and send RMAP request command bag to SpaceWire data interface module;
RMAP request command bag is transferred to RMAP target node controller by step 5, SpaceWire data interface module;
RMAP target node controller proceeds as follows:
First, command object bag decoder module is responsible for resolving RMAP order bag, and Read-write Catrol information parsing obtained, address information, data message are sent to target node controller module, dma module and access control module respectively;
Then, the data message obtained is carried out CRC check by access control module, is cached to dma module;
Step 6, RMAP target node controller carry out read-write operation to asynchronous data transmitting-receiving two-port RAM;
Be specially: when RMAP request command bag is RMAP read command bag, dma module reads the CAN Frame stored in asynchronous data transmitting-receiving two-port RAM;
When RMAP request command bag is RMAP write order bag, dma module is by the data of buffer memory after CRC check write asynchronous data transmitting-receiving two-port RAM, send control command to CAN controller simultaneously, CAN controller reads the data in asynchronous data transmitting-receiving two-port RAM, and is sent to CAN network;
Step 7, RMAP target node controller send RMAP acknowledgement command bag and initiate node device to spaceborne computer or RMAP;
RMAP target node controller by CAN Frame or will to asynchronous data receive and dispatch in two-port RAM write control command whether successfully state information be packaged into RMAP acknowledgement command bag, be sent to spaceborne computer by SpaceWire data interface module or RMAP initiates node device.
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