CN105187227B - A kind of device using RMAP protocol realization CAN bus equipment plug and play - Google Patents
A kind of device using RMAP protocol realization CAN bus equipment plug and play Download PDFInfo
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- CN105187227B CN105187227B CN201510320758.8A CN201510320758A CN105187227B CN 105187227 B CN105187227 B CN 105187227B CN 201510320758 A CN201510320758 A CN 201510320758A CN 105187227 B CN105187227 B CN 105187227B
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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
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Abstract
The invention discloses a kind of devices using RMAP protocol realization CAN bus equipment plug and play, specifically include：RMAP target node controllers, CAN controller, SpaceWire data interface modules and asynchronous data receive and dispatch two-port RAM.It is as follows to be sequentially connected relationship：External CAN interface sensing equipment connects CAN controller, and connection asynchronous data receives and dispatches two-port RAM, connects RMAP target node controllers, connects SpaceWire data interface modules；RMAP target node controllers include command object packet decoder module, access control module, target node controller module；Dma module, target response packet encoder module and CRC data correction verification module.SpaceWire data interface modules connect spaceborne computer and RMAP target node controllers；The advantage is that RMAP target node controllers are existing with the soft verifications of IP, the transfer efficiency and data transmission real-time of data are improved, design complexities are effectively reduced.
Description
Technical field
The invention belongs to space technology application fields, and in particular to a kind of application RMAP protocol realization CAN bus equipment is
The device of plug-and-play.
Background technology
CAN bus (Controller Area Network, Controller Area Network BUS) technology has security credibility,
It is widely used in the data transmission of space flight and micro-thermoelectric generator, SpaceWire buses, is that European Space Agency is based on two commercial marks
Quasi- IEEE 1355-1995 and IEEE 1596.3 (LVDS)；SpaceWire data/address bus is that Future Satellite inner high speed data pass
Defeated core network.And the sensing equipment on existing many satellites is all based on CAN bus development, although, it is domestic related special
The mode that profit refers to microprocessor completes two kinds of data link layers of CAN bus and SpaceWire data/address bus in software view
Conversion between agreement, but it is the absence of the equipment that CAN bus and SpaceWire agreements realize data conversion in hardware view, make
CAN bus equipment can rapidly to SpaceWire backbone networks the network integration, realize the reusability for improving existing sensing equipment
Launch cost is assembled with satellite is saved.
RMAP agreements (Remote memoryaccessproocol) are proposed a kind of based on SpaceWire's by Ou Hang innings
To the agreement that long-distance inner accesses, it is the application layer protocol for developing plug and play micro-thermoelectric generator network, belongs to SpaceWire
The upper-layer protocol of agreement.The RMAP agreements country is not currently applied to also in the research starting stage on satellite.RMAP agreements
Main purpose is to be written and read operation to remote storage device, therefore RMAP agreements are applied and are set in non-processor data conversion
It is standby upper, it is the target of future development low-power consumption plug and play satellite node equipment.
External correlation plug and play standard is proposed establishes spaceborne internet, spaceborne computer conduct using RMAP agreements
The initiation node of RMAP orders is accessed all in network by the physical address and destination node storage address of destination node
The data of RMAP target node devices.So being that development is inserted using RMAP protocol realizations Data Format Transform and memory access
A kind of integrated means of satellite network are provided with satellite.
Invention content
The purpose of the present invention is：By apply RMAP target node controllers, solve CAN interface sensing equipment and
SpaceWire bus network it is compatible, realize number of the CAN interface sensing equipment to SpaceWire bus network
According to the plug-and-play feature of format conversion and CAN interface sensing equipment.
A kind of device using RMAP protocol realization CAN bus equipment plug and play, the external CAN interface of one end connection
Sensing equipment, the other end connects spaceborne computer or RMAP initiates node device；It is total that CAN interface sensing equipment transmits CAN
Line data frame is transferred to SpaceWire bus network by the device；Spaceborne computer or RMAP initiate node device hair simultaneously
It send RMAP orders to wrap, CAN bus network is sent to by the device.
The device specifically includes：RMAP target node controllers, CAN controller, SpaceWire data interface modules
With asynchronous data transmitting-receiving two-port RAM (Random-AccessMemory, random access memory).
The external CAN interface sensing equipment of CAN controller one end connection, the other end receive and dispatch both-end with asynchronous data
Mouth RAM connections；CAN controller is by the CAN bus data frame transfer received and is stored in asynchronous data transmitting-receiving dual-port
In RAM.
Asynchronous data receive and dispatch two-port RAM by data/address bus, address bus, that enabled control signal connects CAN simultaneously is total
Lane controller and RMAP target node controllers；
Asynchronous data receives and dispatches memory of the two-port RAM as data buffer storage unit, and the data of storage include two parts：The
A part is the plug and play configuration information of RMAP target node controllers, and second part is that external CAN interface sensing is set
The control data of standby CAN bus data frame data or RMAP orders packet.
RMAP target node controllers one end is connect with SpaceWire data interface modules, is received SpaceWire data and is connect
The RMAP request commands packet of mouth mold block input sends RMAP response bags to SpaceWire data interface modules；The other end connects
Asynchronous data transmitting-receiving two-port RAM is connect, receiving and dispatching the data in two-port RAM to asynchronous data is written and read operation；
RMAP target node controllers include command object packet decoder module, access control module, target node controller
Module；DMA (Direct Memory Access, direct memory access) module, target response packet encoder module and CRC
(Cyclical Redundancy Check, cyclic redundancy check code) data check module.
Specific work process is：
Step 1, command object packet decoder module parse RMAP request command packets, obtain Read-write Catrol information,
Location information, data information are separately sent to target node controller module, dma module and access control module.
The data that step 2, access control module are responsible for transmit do CRC check, whether judge the data received
It is wrong, if errorless, by data buffer storage and it is transferred to dma module；Otherwise, 6 are entered step；
Step 3, target node controller module send control instruction according to Read-write Catrol information to dma module；If it is
Read command enters step 4, if it is write order, enters step 5；
The Read-write Catrol information of RMAP request command packets includes two kinds of read command and write order, passes through Read-write Catrol information control
Dma module processed is received and dispatched in two-port RAM from asynchronous data and is written and read operation；
The address information and read command of step 4, dma module according to step 1 read asynchronous data and receive and dispatch two-port RAM
The CAN bus data frame of middle storage, and pass to target response packet encoder module；Simultaneously by the control command after the completion of read command
It is sent to target node controller module；
Data information after CRC check is stored in by step 5, dma module according to the address information and write order of step 1
Asynchronous data is received and dispatched in two-port RAM, and control command is sent out to CAN controller；Simultaneously by the control after the completion of write order
Order is sent to target node controller module；
Step 6, target node controller module control targe response bag coding module generate RMAP response bags and are sent to
SpaceWire data interface modules.
When it is write order to initiate RMAP request command packets, the data field of RMAP response bags is to write asynchronous data transmitting-receiving pair
The whether successful status information of port ram；When it is read command to initiate RMAP request command packets, the data word in RMAP response bags
Section is CAN bus data frame；If the data of access control module CRC check are wrong, the data words in RMAP response bags
Section, which is error condition, should reach packet.
SpaceWire data interface modules include transmitter, state machine, receiver, send fifo (First Input
The abbreviation of First Output, First Input First Output) module and receive fifo modules；The SpaceWire data interface modules one
End connection spaceborne computer, receives or sends SpaceWire protocol data frames；The other end is logical with RMAP target node controllers
It crosses link control signal bus, data/address bus, status indication signal bus, timing code control signal bus to link together, lead to
Cross RMAP target node controllers control SpaceWire data interface modules working method and state-detection.
A kind of specifically used method of device using RMAP protocol realization CAN bus equipment plug and play is：
Step 1: being configured first to asynchronous data transmitting-receiving two-port RAM；
The address space that asynchronous data transmitting-receiving two-port RAM is originated to 10kb is assigned to storage external node equipment description
The information such as information, network node physical address information, protocol converter working condition, storage address mapping；Remaining address is empty
Between be allocated as storage payload data, for RMAP target node controllers and CAN controller read and write access.
Step 2: CAN interface sensing equipment transmits CAN bus data frame to CAN controller；
Step 3: CAN controller, which stores CAN bus data frame to asynchronous data, receives and dispatches two-port RAM；
After CAN controller receives CAN bus data frame, retains effective data field field and store and arrive asynchronous number
According to transmitting-receiving two-port RAM in, while by the status information of CAN controller be sent to asynchronous data receive and dispatch two-port RAM.
It is asked to SpaceWire data interface modules transmission RMAP Step 4: spaceborne computer or RMAP initiate node device
Seek order packet.
RMAP request command packets refer to that spaceborne computer or RMAP initiate the SpaceWire agreements that node device is sent
Data frame.
Step 5: RMAP request command packets are transferred to RMAP target node controllers by SpaceWire data interface modules；
RMAP target node controllers proceed as follows：
First, command object packet decoder module be responsible for parse RMAP orders packet, will parse obtain Read-write Catrol information,
Location information, data information are separately sent to target node controller module, dma module and access control module.
Then, obtained data information is carried out CRC check by access control module, is cached to dma module；Data information is
Data load in RMAP orders packet and CRC payload fields.
Step 6: RMAP target node controllers are written and read operation to asynchronous data transmitting-receiving two-port RAM；
Specially：When RMAP request command packets are RMAP read command packets, dma module reads asynchronous data and receives and dispatches dual-port
The CAN bus data frame stored in RAM；
When RMAP request command packets are RMAP write order packets, dma module carries out work according to address information and write order
Make, the data cached after CRC check write-in asynchronous data is received and dispatched in two-port RAM, while dma module is controlled to CAN bus
Device sends out control command, and CAN controller reads the data in asynchronous data transmitting-receiving two-port RAM, and is sent to CAN bus
Network.
Step 7: RMAP target node controllers send RMAP acknowledgement commands packet initiates node to spaceborne computer or RMAP
Equipment；
RMAP target node controllers are by CAN bus data frame or will be written into asynchronous data transmitting-receiving two-port RAM
The whether successful status information of control command is packaged into RMAP acknowledgement command packets, is sent by SpaceWire data interface modules
Node device is initiated to spaceborne computer or RMAP.
The advantages and positive effects of the present invention are：
(1), a kind of device using RMAP protocol realization CAN bus equipment plug and play of the invention, sets in hardware circuit
Utilize RMAP protocol realization data conversions, this implementation method that can save spaceborne system integrating time and cost in meter, and
And improve the reliability and real-time of data conversion device.
(2), a kind of device using RMAP protocol realization CAN bus equipment plug and play of the invention, internal all modules
All it is to be realized with the soft kernel form of IP, all data conversion logical units generated by IP kernel is downloaded into the production of Xilinx companies
Virtex5XC5VLX155FPGA inside；It is this so that hardware circuit board is simple in structure in the way of the soft nuclear designs of IP, and have
There is the features such as low in energy consumption, portable strong, modification is flexible.
(3), a kind of device using RMAP protocol realization CAN bus equipment plug and play of the invention, RMAP destination nodes
Recording controller is verified now so that IP is soft, is avoided and is completed protocol conversion using the mode of processor, improves the conversion of data
Efficiency and data transmission real-time, and effectively reduce design complexities.It is realized with processor in power consumption also Billy
The method of protocol conversion has advantage.
Description of the drawings
Fig. 1 is a kind of apparatus structure schematic diagram using RMAP protocol realization CAN bus equipment plug and play of the invention；
Fig. 2 is CAN bus data frame format schematic diagram of the present invention；
Fig. 3 is RMAP orders bag data frame format schematic diagram of the present invention；
Fig. 4 is RMAP target node controllers structural schematic diagram of the present invention；
Fig. 5 is SpaceWire data interface modules structural schematic diagram of the present invention；
Fig. 6 is the specifically used method flow diagram of the device of the invention；
Fig. 7 is the method flow diagram of RMAP target node controllers of the present invention.
1-CAN bus control units；2- asynchronous datas receive and dispatch two-port RAM；3-RMAP target node controllers；4-
SpaceWire data interface modules；
301- command object packet decoder modules；302- target response packet encoder modules；303- access control modules；304-
Dma module；305- target node controller modules；306-CRC data check modules；
401- transmitters；402- state machines；403- receivers；404- sends fifo modules；405- receives fifo modules.
Specific implementation mode
Below in conjunction with attached drawing, the present invention is described in further detail.
SpaceWire buses belong to high rate data transmission data/address bus, and bandwidth of operation can reach 200Mbps and can be complete double
Work is received and dispatched.SpaceWire data reception modules have clock recovery function, the DS encoded signals received can be utilized to recover institute
The data and clock received, therefore data reception clock and tranmitting data register can be in different clock domains working.CAN bus
Belong to slow data transmission bus, is widely used in industry and aerospace data transmission.Two kinds of interface modules are all soft by IP
What kernel form was realized in FPGA, two modules are communicated with the data network corresponding to it respectively, send or receive phase
Answer the data packet of format.
RMAP target node controllers are to realize that SpaceWire upper application layers RMAP (remote memory access access) is assisted
View.Therefore configuration register, read status information can be completed using RMAP destination nodes recording controller, and it is stored
The data of device are written and read access.
A kind of device using RMAP protocol realization CAN bus equipment plug and play, as shown in Figure 1, including RMAP targets
Node Controller 3, CAN controller 1, SpaceWire data interface modules 4 and asynchronous data receive and dispatch two-port RAM 2.
The external CAN interface sensing equipment of 1 one end of CAN controller connection, the other end and asynchronous data transmitting-receiving are double
Port ram connects；CAN interface sensing equipment transmits CAN bus data frame to CAN controller 1, CAN bus control
Device 1 is by the data transmission received and is stored in asynchronous data transmitting-receiving two-port RAM 2.
CAN bus data frame format, as shown in Fig. 2, including start bit, arbitration domain, control domain, data field, CRC check
Domain, response bits and stop bits.
Wherein, CRC check domain also known as cyclic redundancy check position；
After CAN controller 1 receives CAN bus data frame, the links such as useless arbitration domain, CRC check domain are abandoned
Condition adjudgement field retains effective data field field, and the storage of data field field is received and dispatched two-port RAM 2 to asynchronous data
In.
It is total by data/address bus, address bus, enabled control signal wire and CAN that asynchronous data receives and dispatches 2 one end of two-port RAM
Lane controller 1 is connected；The other end connects RMAP target node controllers 3.
Asynchronous data transmitting-receiving two-port RAM 2 is operated in two clock domains respectively, is connect with RMAP target node controllers 3
It carries out using high-frequency clock when data manipulation, is connect with CAN controller 1 and use low frequency when carrying out data read-write operation
Clock.It is operated using the asynchronous read and write RAM of different clock-domains, makes RMAP target node controllers 3 and CAN in section at the same time
Bus control unit 1 accesses RAM resources simultaneously, realizes high-speed data and low speed data simultaneous transmission between two kinds of bus protocols.
Asynchronous data receives and dispatches memory of the two-port RAM 2 as data buffer storage unit, can store two parts data：The
A part is the plug and play configuration information of RMAP target node controllers；Second part is that the external CAN interface of storage passes
Feel the CAN bus data frame data of equipment or the control data of RMAP orders packet.
RMAP target node controllers 3 and CAN bus control may be implemented by designing asynchronous data transmitting-receiving two-port RAM 2
Asynchronous operation of the device 1 processed to memory.
RMAP target node controllers 3 are the hardware controls for the application layer RMAP agreements for realizing SpaceWire agreements upper layer
Circuit receives the RMAP orders packet that spaceborne computer initiates node, by parsing RMAP as the destination node in RMAP agreements
Order is wrapped and is returned the mode transceiving data of RMAP response bags or sends control command to CAN interface sensing equipment.
3 one end of RMAP target node controllers passes through three kinds of data/address bus, address bus and enabled control signal bus numbers
It is connected with asynchronous data transmitting-receiving two-port RAM 2 according to bus, receiving and dispatching the data in two-port RAM 2 to asynchronous data is written and read
Operation；The other end is connect with SpaceWire data interface modules 4, receives 4 input of SpaceWire data interface modules
SpaceWire protocol data frames send RMAP response bags to SpaceWire data interface modules 4；
Spaceborne computer sends out RMAP orders packet and is transferred to RMAP destination nodes by SpaceWire data interface modules 4
Controller 3.
The format of RMAP orders packet SpaceWire data frames as shown in figure 3, be made of, including DAF destination address field, target
Logical address field, agreement distinguish field, instruction field, cipher key field, response address field, initiate node logical address word
Section, 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 controllers 3 are as shown in figure 4, including command object packet decoder module 301, access control module
303, target node controller module 305, dma module 304, target response packet encoder module 302 and CRC data verification caching mould
Block 306.
After RMAP target node controllers 3 receive request command packet, as shown in fig. 7, specific work process is：
Step 1, command object packet decoder module be responsible for parse RMAP orders packet, will parse obtain Read-write Catrol information,
Address information, data information are separately sent to target node controller module, dma module and access control module.
The Read-write Catrol information refers to the instruction field of RMAP orders packet；Data information refers to data load field；
Address information includes two parts, and first part is the physical address information of node, refers to DAF destination address field and destination logical address
Field；Data packet is indicated in spaceborne computer or initiates the path transmitted between node.Second part is to need to access memory
Address information, refer to storage address field.
Data load in the RMAP orders packet that step 2, access control module transmit command object packet decoder module and
CRC payload fields carry out CRC check；Whether correct verify the data load field received, if correctly, CRC data verification
Cache module caches the data verified, then again by the data transmission of caching to dma module.If incorrect, mesh
Error condition is packaged into reach to wrap accordingly by mark response bag coding module is sent to SpaceWire data interface modules.
Step 3, target node controller module send control to dma module according to the Read-write Catrol information in step 1 and refer to
It enables；If it is read command, 4 are entered step, if it is write order, enters step 5；
Target node controller module 305 is responsible for reception, response and the transmission of control RMAP orders packet；Destination node controls
Read-write Catrol information in the RMAP decoder modules that module 305 receives, Read-write Catrol information include read command and write order two
Kind, it is received and dispatched in two-port RAM 2 from asynchronous data by Read-write Catrol information control dma module 304 and is written and read operation, simultaneously
The work of control targe response bag coding module 302 and command object packet decoder module 301.
Step 4, dma module work according to the address information of step 1 and the read command control instruction of step 3, read
It takes asynchronous data to receive and dispatch the CAN bus data frame stored in two-port RAM, and passes to target response packet encoder module；It will read
Control command after the completion of control information is sent to target node controller module；
Dma module 304 is to be directly accessed access control unit, is transmitted across according to step 1 command object packet decoder module 301
The address information come accesses to asynchronous data transmitting-receiving two-port RAM 2, if Read-write Catrol information is read command, dma module
The valid data domain field being written by CAN controller 1 in 304 reading asynchronous data transmitting-receiving two-port RAMs, and pass to
Target response packet encoder module 302；The control command after the completion of reading control information is sent to target node controller mould simultaneously
Block 305；
Data information after CRC check is stored in by step 5, dma module according to the address information and write order of step 1
Asynchronous data is received and dispatched in two-port RAM, while the control command after the completion of write order is sent to target node controller module；
If Read-write Catrol information is write order, dma module 304 is asynchronous by data write-in of the step 2 after CRC check
In data transmit-receive two-port RAM 2, control command is sent out to CAN controller 1；CAN controller 1 reads asynchronous data
The data in two-port RAM 2 are received and dispatched, and are sent to CAN bus network；To facilitate CAN controller 1 uninterruptedly to be read
It takes.
Step 6, target node controller module control targe response bag coding module generate RMAP response bags and are sent to
SpaceWire data interface modules.
When it is write order to initiate RMAP request command packets, the data field of RMAP response bags is to write asynchronous data transmitting-receiving pair
The whether successful status information of port ram 2；When it is read command to initiate RMAP request command packets, the data in RMAP response bags
Field is CAN bus data frame.
The data load and target section that target response packet encoder module 302 will transmit dma module in step 4 304
The control command that base site controller generates is packaged into RMAP response bags and is sent to SpaceWire data interface modules 4.
4 one end of SpaceWire data interface modules connection spaceborne computer, responsible and outside SpaceWire bus communications,
Receive or send SpaceWire protocol data frames.SpaceWire data interface modules and outside router or spaceborne calculating
The connectivity port of machine is to be used as physical layer signal transmission technology, transmitting data information and clock by low voltage difference LVDS signals
Information.
The SpaceWire data interface modules other end and RMAP target node controllers 3 by link control signal bus,
Data/address bus, status indication signal bus, timing code control signal bus etc. link together, and are controlled by RMAP destination nodes
Device 3 controls 4 working method of SpaceWire data interface modules and state-detection.Inside SpaceWire data interface modules 4
Complete required clock recovery, data transmitting and receiving, error detection, credit during SpaceWire data link layers are established
The functions such as detection, error status flag.
SpaceWire data interface modules 4 are as shown in figure 5, including transmitter 401, state machine 402, receiver 403, hair
It send fifo modules 404 and receives fifo modules 405.State machine 402 is responsible for SpaceWire link communications and shakes hands to sentence with link error
Disconnected link state conversion.What is transmitted in SpaceWire networks is serial data, therefore receiver 403 is serial by what is received
DS encoded signals into row clock and data recovery, and by the data conversion of recovery at parallel data frame be stored in receive fifo moulds
In block 405.It sends fifo modules 404 and caches the SpaceWire data that RMAP target node controllers 3 are transferred to, transmitter 401
It is responsible for sending SpaceWire data frames to SpaceWire networks.
The principle of the present invention includes read procedure and writes two kinds of process, and read procedure is：The CAN that CAN controller 1 receives
Bus data frame, removes useless link-state information, and data, which are stored in asynchronous data, after extracted valid data load receives and dispatches
In two-port RAM 2.The data that RMAP target node controllers 3 are read in asynchronous data transmitting-receiving two-port RAM 2 are wrapped into
Then RMAP reply datas packet is sent to outside by RMAP reply data packets by SpaceWire data interface modules 4
SpaceWire networks；
The process of writing is：The RMAP command packets received are sent to RMAP targets by SpaceWire data interface modules 4
Node Controller 3, RMAP target node controllers 3 extract the payload field in command packet, and payload is deposited
Entering in asynchronous data transmitting-receiving two-port RAM 2, CAN controller 1 reads the data in asynchronous data transmitting-receiving two-port RAM 2,
Send it to CAN bus network.
A kind of specifically used method of device using RMAP protocol realization CAN bus equipment plug and play, as shown in Figure 6
For：
Step 1: being configured first to asynchronous data transmitting-receiving two-port RAM；
The address space that asynchronous data transmitting-receiving two-port RAM is originated to 10kb is assigned to storage external node equipment description
The information such as information, network node physical address information, protocol converter working condition, storage address mapping.Spaceborne computer
Or RMAP initiates node device and reads the information that the 10kb address spaces are stored first after the power is turned on, carries out network configuration and interface
The plug-and-play feature of external node equipment can be realized in configuration.Remaining address space is allocated as storing effective charge number
According to for RMAP target node controllers and CAN controller read and write access.
Step 2: CAN interface sensing equipment transmits CAN bus data frame to CAN controller；
CAN bus data frame format, including start bit, arbitration domain, control domain, data field, cyclic redundancy check position (CRC
Verify domain), response bits and stop bits.
Step 3: CAN controller, which stores CAN bus data frame to asynchronous data, receives and dispatches two-port RAM；
After CAN controller receives CAN bus data frame, the links shapes such as useless arbitration domain, CRC check domain are abandoned
State judges field, retains effective data field field, and the storage of data field field is received and dispatched dual port RAM module to asynchronous data
In, at the same by the operating status of CAN controller and whether mistake status information be sent to asynchronous data receive and dispatch dual-port
RAM module.
It is asked to SpaceWire data interface modules transmission RMAP Step 4: spaceborne computer or RMAP initiate node device
Seek order packet.
SpaceWire protocol data frames constitute RMAP orders packet, including DAF destination address field, destination logical address word
Section, agreement distinguish field, instruction field, cipher key field, response address field, initiate 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 SpaceWire protocol data frames to refer to that the RMAP sent is asked
Seek order packet.
Step 5: RMAP request command packets are transferred to RMAP target node controllers by SpaceWire data interface modules；
RMAP request command packets include RMAP read commands packet or write order packet；
Step 6: RMAP target node controllers carry out information exchange with CAN controller；
When RMAP request command packets are RMAP read command packets, the command object packet decoding in RMAP target node controllers
Module is responsible for parsing RMAP orders packet, and Read-write Catrol information, address information, data information that parsing obtains are separately sent to mesh
Mark Node Controller Module, dma module and access control module；Target node controller module is given according to Read-write Catrol information
Dma module sends control instruction；Dma module works according to address information and control instruction, is transmitted by address bus,
Read the CAN bus data frame stored in asynchronous data transmitting-receiving two-port RAM；The data transfer of reading is compiled to target response packet
Code module；The control command after the completion of reading is sent to target node controller module simultaneously；Target node controller module
Control targe response bag coding module generates RMAP response bags and is sent to SpaceWire data interface modules；Realize CAN bus
Function of the interface sensing equipment to the Data Format Transform of SpaceWire bus network.
When RMAP request command packets are RMAP write order packets, command object packet decoder module parses RMAP write order packets,
Read-write Catrol information, address information, data information that parsing obtains are separately sent to target node controller module, DMA moulds
Block and access control module.Target node controller module obtains the write order in Read-write Catrol information and is transferred to dma module,
Access control module obtains data information and carries out CRC check, and is cached to dma module.The address that dma module is obtained according to parsing
Information and write order work, and the data information after CRC check is extracted payload field, deposit asynchronous data transmitting-receiving
In two-port RAM, by address bus and control enable signal transmission line, address information write-in asynchronous data is received and dispatched into dual-port
RAM, while control command is sent out to CAN controller, CAN controller is read in asynchronous data transmitting-receiving two-port RAM
Data, and be sent to CAN bus network；Realize the plug-and-play feature of CAN interface sensing equipment.Destination node simultaneously
Controller module control targe response bag coding module generates RMAP response bags and is sent to SpaceWire data interface modules；
Step 7: RMAP target node controllers send RMAP acknowledgement commands packet initiates node to spaceborne computer or RMAP
Equipment；
RMAP target node controllers will receive and dispatch the CAN bus device data read out in two-port RAM from asynchronous data
Or the whether successful status information of two-port RAM will be write and be packaged into RMAP acknowledgement command packets, then RMAP destination nodes control
RMAP acknowledgement commands packet is sent to spaceborne computer by SpaceWire data interface modules with device or RMAP initiates node and sets
It is standby.
When it is write order to initiate RMAP request command packets, the data field of response bag is to write asynchronous data transmitting-receiving dual-port
The whether successful status informations of RAM.When it is read command to initiate RMAP request command packets, the data field in response bag is CAN
Bus data frame.
Claims (4)
1. a kind of device using RMAP protocol realization CAN bus equipment plug and play, connection external CAN interface in one end passes
Feel equipment, the other end connects spaceborne computer or RMAP initiates node device；CAN interface sensing equipment transmits CAN bus
Data frame is transferred to SpaceWire bus network by the device；Spaceborne computer or RMAP initiate node device transmission simultaneously
RMAP orders are wrapped, and CAN bus network is sent to by the device；It is characterized in that,
The device specifically includes：RMAP target node controllers, CAN controller, SpaceWire data interface modules
Two-port RAM is received and dispatched with asynchronous data；
The external CAN interface sensing equipment of CAN controller one end connection, the other end receive and dispatch dual-port with asynchronous data
RAM connections；CAN controller is by the CAN bus data frame transfer received and is stored in asynchronous data transmitting-receiving two-port RAM
In；
Asynchronous data receives and dispatches two-port RAM and connects CAN bus control simultaneously by data/address bus, address bus, enabled control signal
Device and RMAP target node controller processed, asynchronous data receive and dispatch memory of the two-port RAM as data buffer storage unit；
RMAP target node controllers one end is connect with SpaceWire data interface modules, receives SpaceWire data-interface moulds
The RMAP request commands packet of block input sends RMAP response bags to SpaceWire data interface modules；Other end connection is asynchronous
Data transmit-receive two-port RAM receives and dispatches the data in two-port RAM to asynchronous data and is written and read operation；
RMAP target node controllers include command object packet decoder module, access control module, target node controller module,
Dma module, target response packet encoder module and CRC data correction verification module；
Command object packet decoder module parses RMAP request command packets, and Read-write Catrol information is sent to destination node control
Device module processed；Address information is sent to dma module；Data information is sent to access control module；
Access control module does CRC check to the data transmitted, if it is correct to verify the data load received after verification,
By the data transmission after verification to dma module；
Target node controller module sends two kinds of controls of read command and write order to dma module according to Read-write Catrol information and refers to
It enables；
Under read command state：Dma module reads in asynchronous data transmitting-receiving two-port RAM and stores according to address information and read command
CAN bus data frame, and pass to target response packet encoder module；The control command after the completion of read command is sent to simultaneously
Target node controller module；
Under write order state：Dma module is stored in asynchronous number according to address information and write order, by the data information after CRC check
According in transmitting-receiving two-port RAM, control command is sent out to CAN controller；The control command after the completion of write order is sent out simultaneously
Give target node controller module；
Target node controller module control targe response bag coding module generates RMAP response bags and is sent to SpaceWire data
Interface module；
SpaceWire data interface modules include transmitter, state machine, receiver, send fifo modules and receive fifo modules；
SpaceWire data interface modules one end connects spaceborne computer, receives or send SpaceWire protocol data frames；It is another
End connect with RMAP target node controllers, and by link control signal bus, data/address bus, status indication signal bus and
Timing code control signal bus carries out data exchange, and SpaceWire data-interface moulds are controlled by RMAP target node controllers
Block working method and state-detection.
2. a kind of device using RMAP protocol realization CAN bus equipment plug and play as described in claim 1, feature exist
In the data that the asynchronous data receives and dispatches two-port RAM storage include two parts：First part controls for RMAP destination nodes
The plug and play configuration information of device, second part be external CAN interface sensing equipment CAN bus data frame data or
The control data of RMAP orders packet.
3. a kind of device using RMAP protocol realization CAN bus equipment plug and play as described in claim 1, feature exist
In the RMAP target node controller specific work process is：
Step 1, command object packet decoder module parse RMAP request command packets, obtain Read-write Catrol information, address letter
Breath, data information are separately sent to target node controller module, dma module and access control module；
The data that step 2, access control module are responsible for transmit do CRC check, judge whether the data received are wrong
Accidentally, if errorless, by data buffer storage and it is transferred to dma module；Otherwise, 6 are entered step；
Step 3, target node controller module send control instruction according to Read-write Catrol information to dma module；It is ordered if it is reading
It enables, enters step 4, if it is write order, enter step 5；
The Read-write Catrol information of RMAP request command packets includes two kinds of read command and write order, is controlled by Read-write Catrol information
Dma module is received and dispatched in two-port RAM from asynchronous data and is written and read operation；
The address information and read command of step 4, dma module according to step 1 read in asynchronous data transmitting-receiving two-port RAM and deposit
The CAN bus data frame of storage, and pass to target response packet encoder module；The control command after the completion of read command is sent simultaneously
Give target node controller module；
Data information after CRC check is stored in asynchronous by step 5, dma module according to the address information and write order of step 1
In data transmit-receive two-port RAM, control command is sent out to CAN controller；Simultaneously by the control command after the completion of write order
It is sent to target node controller module；
Step 6, target node controller module control targe response bag coding module generate RMAP response bags and are sent to
SpaceWire data interface modules；
When it is write order to initiate RMAP request command packets, the data field of RMAP response bags is to write asynchronous data transmitting-receiving dual-port
The whether successful status informations of RAM；When it is read command to initiate RMAP request command packets, the data field in RMAP response bags is
CAN bus data frame；If the data of access control module CRC check are wrong, the data field in RMAP response bags is
Error condition should reach packet.
4. a kind of device using RMAP protocol realization CAN bus equipment plug and play as described in claim 1, feature exist
In the method that the CAN bus equipment realizes plug and play includes the following steps：
Step 1: being configured first to asynchronous data transmitting-receiving two-port RAM；
The address space that asynchronous data transmitting-receiving two-port RAM is originated to 10kb is assigned to storage external node equipment description letter
Breath, network node physical address, protocol converter working condition and storage address map information；Remaining address space is assigned
As storage payload data, for RMAP target node controllers and CAN controller read and write access；
Step 2: CAN interface sensing equipment transmits CAN bus data frame to CAN controller；
Step 3: CAN controller, which stores CAN bus data frame to asynchronous data, receives and dispatches two-port RAM；
After CAN controller receives CAN bus data frame, retains effective data field field and store to asynchronous data and receive
It sends out in two-port RAM, while the status information of CAN controller is sent to asynchronous data and receives and dispatches two-port RAM；
Step 4: spaceborne computer or RMAP initiate node device sends RMAP request lives to SpaceWire data interface modules
Enable packet；
Step 5: RMAP request command packets are transferred to RMAP target node controllers by SpaceWire data interface modules；
RMAP request command packets include RMAP read commands packet or write order packet；
RMAP target node controllers proceed as follows：
First, command object packet decoder module is responsible for parsing RMAP orders packet, and the Read-write Catrol information that parsing is obtained, address are believed
Breath, data information are separately sent to target node controller module, dma module and access control module；
Then, obtained data information is carried out CRC check by access control module, is cached to dma module；
Step 6: RMAP target node controllers are written and read operation to asynchronous data transmitting-receiving two-port RAM；
Specially：When RMAP request command packets are RMAP read command packets, dma module reads asynchronous data and receives and dispatches two-port RAM
The CAN bus data frame of middle storage；
When RMAP request command packets are RMAP write order packets, asynchronous data is written in the data cached after CRC check by dma module
It receives and dispatches in two-port RAM, while control command is sent out to CAN controller, CAN controller reads asynchronous data transmitting-receiving
Data in two-port RAM, and it is sent to CAN bus network；
It is set to spaceborne computer or RMAP initiation nodes Step 7: RMAP target node controllers send RMAP acknowledgement commands packet
It is standby；
RMAP target node controllers are by CAN bus data frame or write-in control in two-port RAM will be received and dispatched to asynchronous data
Whether successful status information is packaged into RMAP acknowledgement command packets for order, and star is sent to by SpaceWire data interface modules
It carries computer or RMAP initiates node device.
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| CN106789514A (en) * | 2016-12-30 | 2017-05-31 | 深圳市优必选科技有限公司 | Frame transmission method and device |
| CN107302522B (en) * | 2017-05-26 | 2020-12-01 | 北京航空航天大学 | USB-based SpaceWire network plug and play base protocol |
| CN108234337B (en) * | 2017-12-06 | 2021-01-08 | 北京时代民芯科技有限公司 | SpaceWire bus router supporting host interface |
| CN108093492A (en) * | 2017-12-26 | 2018-05-29 | 上海创程车联网络科技有限公司 | A kind of wireless radio frequency modules serial communication method for remote control equipment |
| CN109274859A (en) * | 2018-09-30 | 2019-01-25 | 北京航空航天大学 | A kind of SpaceWire video frequency collection card based on USB3.0 |
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| CN111130691B (en) * | 2019-11-13 | 2022-08-12 | 航天东方红卫星有限公司 | Satellite-borne asynchronous rate communication matching device |
| CN111290715B (en) * | 2020-02-24 | 2023-04-28 | 山东华芯半导体有限公司 | Safe storage device based on partition realization |
| CN111600848B (en) * | 2020-04-22 | 2022-05-17 | 深圳市椰壳信息科技有限公司 | Protocol converter and control method thereof |
| CN111984574A (en) * | 2020-08-17 | 2020-11-24 | 北京中新创科技有限公司 | Backboard bus exchange system based on universal serial transmit-receive interface |
| CN112948294B (en) * | 2021-03-19 | 2024-02-09 | 北京控制工程研究所 | Dual-channel SpaceWire controller for global parallel data receiving and transmitting and SOC (System on chip) oriented and control method |
| CN113507424B (en) * | 2021-05-08 | 2023-11-21 | 中国电子科技集团公司第十四研究所 | FC engine frame receiving buffer management system |
| CN114536322B (en) * | 2021-12-22 | 2023-12-29 | 安徽省配天机器人集团有限公司 | Robot control cabinet and robot system |
| CN114615353B (en) * | 2022-02-09 | 2022-11-01 | 中国科学院国家空间科学中心 | RMAP target side IP core based on AXI bus and command response method thereof |
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