CN105743755A - Dual-redundant CAN bus communication system - Google Patents
Dual-redundant CAN bus communication system Download PDFInfo
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- CN105743755A CN105743755A CN201610244148.9A CN201610244148A CN105743755A CN 105743755 A CN105743755 A CN 105743755A CN 201610244148 A CN201610244148 A CN 201610244148A CN 105743755 A CN105743755 A CN 105743755A
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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
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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
- H04L12/40169—Flexible bus arrangements
- H04L12/40176—Flexible bus arrangements involving redundancy
- H04L12/40182—Flexible bus arrangements involving redundancy by using a plurality of communication lines
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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
- H04L12/40169—Flexible bus arrangements
- H04L12/40176—Flexible bus arrangements involving redundancy
- H04L12/40195—Flexible bus arrangements involving redundancy by using a plurality of nodes
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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
- H04L12/407—Bus networks with decentralised control
- H04L12/417—Bus networks with decentralised control with deterministic access, e.g. token passing
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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
- H04L41/06—Management of faults, events, alarms or notifications
- H04L41/0654—Management of faults, events, alarms or notifications using network fault recovery
- H04L41/0668—Management of faults, events, alarms or notifications using network fault recovery by dynamic selection of recovery network elements, e.g. replacement by the most appropriate element after failure
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L43/00—Arrangements for monitoring or testing data switching networks
- H04L43/08—Monitoring or testing based on specific metrics, e.g. QoS, energy consumption or environmental parameters
- H04L43/0805—Monitoring or testing based on specific metrics, e.g. QoS, energy consumption or environmental parameters by checking availability
- H04L43/0811—Monitoring or testing based on specific metrics, e.g. QoS, energy consumption or environmental parameters by checking availability by checking connectivity
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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
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
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Abstract
The invention provides a dual-redundant CAN bus communication system. The dual-redundant CAN bus communication system comprises two CAN buses and a plurality of redundant nodes, wherein the plurality of redundant nodes are simultaneously connected to the two CAN buses; a main-spare type hardware architecture is adopted in each redundant node, wherein each redundant node comprises a redundancy functional module; the redundancy functional module executes: node IDs of all the redundant nodes are sorted according to the size, such that a token ring is established; each redundant node sends an online monitoring message; according to the size sorting of the node IDs, except the node having the maximum node ID, each node sends the online state monitoring message to the node, the node ID value of which is greater than that of the self and the difference value of which is minimum; the node having the maximum node ID in a network sends the online state monitoring message to the node having the minimum node ID; each redundant node judges the state of any channel among the self and other redundant nodes on the CAN bus through the received online monitoring message; once the fact that a default channel of a certain node cannot be used for communicating is found, the default channel is instantly switched to a spare channel to perform bus communication; and thus, normal transmission of network data is ensured.
Description
Technical field
The present invention relates to data communication technology field, particularly relate to a kind of dual-redundant CAN bus communication system.
Background technology
CAN communication system, since the eighties in last century is born, has been widely used in the middle of automobile, civilian and national defense industry.The error detection of CAN protocol itself can ensure, with error handling mechanism, the concordance that system communicates well, but in some application, in the middle of national defense industry, CAN communication system does not ensure that its data link can continue to good communication quality under the premise that significant trouble occurs.For this reason, it may be necessary to formulate the redundancy scheme on CAN basis, when to ensure significant trouble, system still can be performed continuously over the communication of necessity.
Summary of the invention
The present invention is directed to the disadvantages mentioned above of prior art, the present invention proposes a kind of dual-redundant CAN bus communication system.
The dual-redundant CAN bus communication system of the present invention, including:
Article two, CAN, it is be called the first CAN of default bus and be called the second CAN of redundant bus；
Being simultaneously connected to the some redundant nodes in described two CAN, each described redundant node adopts active and standby formula hardware structure；
Wherein, described each redundant node includes redundancy feature module, and described redundancy feature die change block performs following functions:
All redundant nodes sort according to the size of node ID and set up token ring, and namely all nodes form a complete on-line condition monitoring message transmission and process ring；
Each redundant node sends on-line monitoring message: except the node that node ID is maximum, on-line monitoring message is sent to the node that node ID value is bigger than node ID value own and difference is minimum by each node；On-line condition monitoring message is sent to the node that node ID is minimum by node maximum for nodes ID；
Each redundant node judges the state of any passage of redundant node in CAN by the on-line monitoring message received, once find that the default passage of certain node cannot communicate, it is immediately switched to alternate channel and carries out bus communication, to guarantee that network data transmission is normal.
Preferably, the form of described on-line monitoring message includes message ID and message data field, described message ID includes source node address, described message data field includes function field and token number, it is Alive message or Ring message that described function field is used for distinguishing described on-line monitoring message, and described token number represents the node ID sending destination node extremely in described token ring.
Preferably, described Alive message is represent the message whether node is online；Described Ring message is the message sent in redundancy handoff procedure；It is effective that described Alive message and described Ring message are 1.
Preferably, after establishing described token ring, add network if any new node, then described redundancy feature module is followed following rule and is re-established token ring:
1) arbitrary node all can send described Alive message after having initialized, and described token number is current default value；
2) arbitrary node has detected that when node ID meets two conditions, the token number then automatically updating self is the node ID detected, said two condition includes:
A) node ID value detected more than the node ID of self,
B) node ID value detected is less than the token number of self；
3) arbitrary node detects that the ID value of self is between source address and the token number of described Ring message that the Ring message received comprises, then send Alive message immediately, and token number is constant.
Preferably, described redundancy feature module passes through the timeout mechanism decision condition as network failure, if after the predetermined waiting time, it does not have receive the described Ring message of expectation, then judges the channel failure that should send the node of described Ring message.
Preferably, described each redundant node includes:
The microcontroller shared and application program；
Two relatively independent CAN controller, including the first CAN controller and the second CAN controller, said two CAN controller works alone；
Two relatively independent CAN transceiver, including the first CAN transceiver and the second CAN transceiver, said two CAN transceiver meets the standard of ISO-11898-2,
Wherein, described microcontroller and the first CAN controller connect, the first CAN controller and the first CAN transceiver, and the first CAN transceiver is connected with the first CAN, to carry out the communication of default passage；
Described microcontroller and the connection of the second CAN controller, the second CAN controller and the second CAN transceiver, the second CAN transceiver is connected with the second CAN, to carry out the communication of alternate channel.
Preferably, on network, all described redundant nodes realize the double; two of on-line monitoring message on described two CAN passages and send out double; two receipts, monitor the node token ring status of described two CAN passages in real time, dynamically registering the presence of other nodes on two passages at intra-node, the presence thereby through node judges whether the passage of described node can be used.
Preferably, any moment bus valid data communication is only transmitted on a passage, gives tacit consent to and communicate at default passage after system start-up.
Preferably, the fault freedom of described communication system includes following four classes fault: CAN_H and/or CAN_L of wall scroll CAN is short-circuit to CAN_L to the CAN_H of power supply short circuit, wall scroll CAN at CAN_H and/or CAN_L of the disconnection of main line somewhere, CAN_H and/or the CAN_L shorted to earth of wall scroll CAN, wall scroll CAN.
The beneficial effects of the present invention is the serious forgiveness that improve CAN communication system, while improving lifetime of system, add the reliability of system.
Accompanying drawing explanation
Fig. 1 is the network topology structure figure of the dual-redundant CAN bus communication system according to the present invention.
Fig. 2 is the architecture diagram of the redundancy CAN node of the dual-redundant CAN bus communication system according to the present invention.
Fig. 3 is the schematic diagram of message ID structure definition.
Fig. 4 is on-line condition monitoring message function field schematic diagram.
Fig. 5 is that on-line condition monitoring message sends the schematic diagram receiving logic chart.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in detail.Following example are not limitation of the present invention.Under the spirit and scope without departing substantially from inventive concept, those skilled in the art it is conceivable that change and advantage be all included in the present invention.
A kind of dual-redundant CAN bus communication system based on token ring of the present invention, the selection of its communication port is determined by node on-line monitoring mechanism.The software and hardware framework of system is described below according to Fig. 1 and Fig. 2.
Fig. 1 is the network topology structure figure of the dual-redundant CAN bus communication system according to the present invention.In communication system, all redundant nodes all adopt the hardware structure of active and standby formula.Single communication node needs at least two CAN communication controller, and bus connects needs two CAN passages, i.e. the first CAN (CAN1) and the second CAN (CAN2).Article two, bus does not have any difference technically, should meet the standard-required of ISO-11898-2.
Specifically, described each redundant node 1 includes:
The microcontroller 11 shared and application program；
Two relatively independent CAN controller, including the first CAN controller 12 and the second CAN controller 14, said two CAN controller works alone；
Two relatively independent CAN transceiver, including the first CAN transceiver 13 and the 2nd CAN15, said two CAN transceiver meets the standard of ISO-11898-2,
Wherein, described microcontroller 11 is connected with the first CAN controller 12, and the first CAN controller 12 is connected with the first CAN transceiver 13, and the first CAN transceiver 13 is connected with the first CAN, to carry out the communication of default passage；
Described microcontroller 11 is connected with the second CAN controller 14, and the second CAN controller 14 is connected with the second CAN transceiver 15, and the second CAN transceiver 15 is connected with the second CAN, to carry out the communication of alternate channel.
Fig. 2 is the architecture diagram of the redundancy CAN node of the dual-redundant CAN bus communication system according to the present invention.The present invention, on basic CAN communication protocol stack upper strata, increases a set of redundancy switching mechanism function code bag (i.e. redundancy handover module).This code (module) is used for connecting CAN communication protocol stack and system application layer protocol.In embedded systems, mediate a layer position.
Redundancy CAN node needs to support redundancy communication, then it should possess the ability supporting simultaneously to communicate in two independent CAN.In specific embodiment, it is preferable that on the basis of as far as possible not concept transfer application program, the software architecture of each redundant node meets:
Only a set of application program；
Only one of which node address (node ID)；
Only a set of communication and application parameter；
Only a set of node state manages, including two independent channel state administrators.
As in figure 2 it is shown, software architecture 2 includes node application program 21, redundancy feature module 20 and CAN drove for 25 (including CAN1 to drive and CAN2 driving).Wherein, redundancy feature module 20 includes node address management 22, node communication and application parameter collection 23 and node state management module 24, realizes redundancy handoff functionality by these modules.
Node application program 21: the application layer communication function that user pays close attention to, comprises the contents such as concrete operational order, packet transmission.This module contents different demands according to user, it is possible to customized development as required.
Node address management 22: for defining the functional attributes of each node in network, each node is owned by unique node ID numbering.
Node communication application parameter collection 23: comprise the contents such as the transmission cycle of cycle message, the message amount of big packet, the trigger condition of transmission message.
Node state management module 24: by the communication function integrity degree of distinctive redundancy scheme predicate node, determine the communication activity passage of node.The fault tolerance of network is all realized by this software module.
CAN drives 25: the CAN communication protocol stack on basis, this module is generic program code bag.
CAN network sends and receives message and all adopt the Extended Superframe Format of 29 bit identifiers.As it is shown on figure 3, the definition of identifier each is as follows:
Bit28～Bit21 totally 8 be called source node address (SourceID, SID), for showing the sending node of this message, by Frame, sender is arranged, address realm 0～254.
Bit20～Bit13 totally 8 be called destination node address (DestinationID, DID), for showing the receiving node of this message, by Frame, sender is arranged, address realm 0～254, when destination address is 255, representing broadcast data, all nodes all can receive these data.
Bit12～Bit5 totally 8 be called data object coding (DataObjectCode, DOC), span is 0～255, totally 256 messages, for distinguishing a plurality of message sent from the same passage of same node, 0 represents the 1st frame in multiframe transmission, and 255 represent the 256th frame, during single frame transmission, set to 0.
Bit4～Bit2 is for retaining (Reserved, RSD), and for protocol extension in the future, the used time does not fill with 0.
Bit1～Bit0 is frame type (TypeOfFrame, TOF) position, identify this message frame type, message is single frame transmission under normal circumstances, TOF=0, when message data is more than 8 byte, multiframe must be adopted to transmit, TOF=01B in the first frame in multiframe, the intermediate frame TOF=10B, tail frame TOF=11B of multiframe.
Redundancy feature module 20 is described in detail below.
Redundancy feature module 20 mainly realizes following functions.The basis of basis CAN communication protocol increases following content, to meet the requirement of system redundancy management:
On-line condition monitoring message
Node on-line monitoring mechanism
The realization of redundancy scheme
1, on-line condition monitoring message
In network service process, the real-time online in order to realize node detects, and invention introduces new on-line condition monitoring message.On-line condition monitoring message divides and includes Alive message and Ring message.The message ID of two kinds of messages is consistent, the first character of data fields save and be distinguish between.
On-line monitoring message format is as follows:
The Byte0 of on-line condition monitoring message data field is function field, altogether 8bit, and the function of each is as shown in Figure 4.Bit0 is Alive message indicating bit, and characterizing current message is Alive message, and in net, all nodes power on and automatically send an Alive message after successfully.Bit1 is Ring message indicating bit, and characterizing current message is Ring message, realizes sending in process at redundancy scheme.R position is reserved bit, and the used time does not fill with 0.Ring and Alive is 1 effective." h " represents the data form of 16 systems.FFh (binary one 1111111) represents to all of node transmission message.
The token number that Byte1 is this message of on-line condition monitoring message data field, represents that next time should be sent to the node ID of Ring message, and default value when node initializing completes is the node ID of node itself.
2, node on-line monitoring mechanism
For being effectively reduced the bus load that nodal test process is brought, for every passage, the present invention adopts the mode of network delivery token ring (abbreviation token ring) to realize the function of node on-line monitoring.For n meshed network, network delivery token ring schematic diagram is as shown in Figure 5.
Fig. 5 describes n node (Node_ID1, Node_ID2, ... node_IDn) between monitoring and monitored relation, the direction of arrow represents the sending direction of on-line condition monitoring message, according to node ID, (node ID is the highest 8bit of message ID field, refer to the definition of identifier above) size sequence, except the node that node ID is maximum, on-line condition monitoring message is sent to the node that node ID value is bigger than node ID value own and difference is minimum by each node, forms monitoring and monitored relation pair.And the maximum node of nodes ID needs on-line condition monitoring message is sent to the node that node ID is minimum.In final network, all nodes form a complete on-line condition monitoring message transmission and process ring (token ring).
3, the foundation of network node on-line monitoring ring (token ring)
After the success of all node power-up initializings, automatically send Alive message, subsequently into waiting state.Alive message comprises node ID information, plays the effect that report node is online.Below for three meshed networks, the process of setting up of network node on-line monitoring ring being described, node ID takes 1,7,9 respectively.
All nodes send Alive message automatically after powering on, subsequently into waiting state, choosing waiting time T_Wait is 100ms.Before 100ms arrives, it is assumed that network has transmitted 3 Alive messages, is respectively as follows:
| Time | SID | Byte0(Alive) | Byte1 |
| 0ms | 0x01 | 0x01 | 0x01 |
| 12ms | 0x07 | 0x01 | 0x07 |
| 79ms | 0x09 | 0x01 | 0x09 |
| 100ms | XX | XX | XX |
From Article 1 Alive message delivery time, until 100ms, on network, arbitrary node have received the Alive message of other two nodes.It is to say, arbitrary node has all known the id information of all nodes on network, the foundation for token ring provides necessary information.Nodes ID is ranked up by all nodes, finds and oneself transmits the position in ring at message.The transmission of Ring message is started from 100ms.After receiving node receives Ring message, check the token number of this Ring message, if token number is inconsistent with own node ID, untreated, otherwise (token number of the Ring message namely received is consistent with own node ID) then starts Ring message sends mechanism, and after the time of regulation, (such as 10ms) sends Ring message.In theory, network occurring, the order of message is as follows:
| Time | SID | Byte0(Ring) | Byte1 |
| 100ms | 0x01 | 0x02 | 0x07 |
| 110ms | 0x07 | 0x02 | 0x09 |
| 120ms | 0x09 | 0x02 | 0x01 |
| 130ms | 0x01 | 0x02 | 0x07 |
| … | XX | XX | XX |
So far, if network does not have any variation, then Ring message can cyclically be sent according to node ID order from small to large by nodes all in network, and with the presence of this predicate node, such that it is able to know the channel status of node.Ring message can be received, illustrate that this passage is available.
The situation about being dynamically added of network node is described below.
As described above, after establishing complete on-line condition monitoring message ring according to the rule of alternative space, if there being new node to add network, then again build ring as follows.
In a word, new node addition token ring should follow following rule:
1) arbitrary node all can send Alive message after having initialized, and token number is current default value (i.e. own node ID).
2) when the node ID number that arbitrary node detects meets following two conditions, then automatically updating token number, the military order trade mark is updated to the node ID detected as new token number.
A) node ID value detected more than self ID number, and
B) node ID value detected is less than own token number.
3) arbitrary node detects that the ID value of self is between SID (source address) and the token number of this message that the Ring message received comprises, then send Alive message immediately, and token number is constant.
The situation about dynamically losing of network node is described below.
When certain one malfunctions in network, or suddenly power down is again or other bus failures, always causes that the token ring having built up is destroyed.The present invention is using timeout mechanism as the decision condition of network failure.When token is transferred to malfunctioning node, Ring message would not be sent out again, token ring is destroyed, all nodes are waited for, until etc. scheduled time (such as 20ms) after the past, if the Ring message still do not expected occurs, then all nodes simultaneously enter communication initialization state.Reopen and build ring process.
Based on invention discussed above node on-line monitoring mechanism, for dual redundant network, require that on network, all nodes realize double; two double; two receipts of on-line monitoring message on two CAN passages, monitor the node token ring status of two passages of CAN1 and CAN2 in real time, dynamically register the presence of other nodes on two passages at intra-node.A node will mutual with B node generation information before, by the presence of the node of aforementioned acquisition confirm A node and B node can communication port, if two passages can communicate, acquiescence adopts CAN1 passage.
For reducing the impact that node power operation causes to network, it is stipulated that receiving in Ring message time-out procedure, all nodes still adopt the last used CAN passage to communicate.
About number of nodes, the communication system of the present invention supports that single network segment interior nodes quantity is up to 255 in theory, but consider that real system working condition is very severe, and the high request to system reliability and life-span, preferably, when system traffic rate is 250kbps, single network segment interior nodes maximum quantity is less than 35.
About fault freedom, the fault freedom of the communication system of the present invention includes following four classes fault:
Wall scroll CAN line CAN_H and (or) CAN_L disconnects in main line somewhere
Wall scroll CAN line CAN_H and (or) CAN_L shorted to earth
Wall scroll CAN line CAN_H and (or) CAN_L is to power supply short circuit
Wall scroll CAN line CAN_H is to CAN_L short circuit
The bus communication speed of the communication system of the present invention can be 250Kbit/s, and the greatest length that can allow bus under this traffic rate is 200 meters, and other traffic rate such as 500Kbit/s, 1000Kbit/s can also be adopted by native system as option.
Obviously, those of ordinary skill in the art will be appreciated that, above embodiments is intended merely to the explanation present invention, and it is not used as limitation of the invention, as long as in the spirit of the present invention, to the change of embodiment described above, modification all by the Claims scope dropping on the present invention.
Claims (9)
1. a dual-redundant CAN bus communication system, it is characterised in that including:
Article two, CAN, it is be called the first CAN of default bus and be called the second CAN of redundant bus；
Being simultaneously connected to the some redundant nodes in described two CAN, each described redundant node adopts active and standby formula hardware structure；
Wherein, described each redundant node includes redundancy feature module, and described redundancy feature die change block performs following functions:
All redundant nodes sort according to the size of node ID and set up token ring, and namely all nodes form a complete on-line condition monitoring message transmission and process ring；
Each redundant node sends on-line monitoring message: except the node that node ID is maximum, on-line monitoring message is sent to the node that node ID value is bigger than node ID value own and difference is minimum by each node；On-line condition monitoring message is sent to the node that node ID is minimum by node maximum for nodes ID；
Each redundant node judges in itself and CAN the state of any passage between other redundant nodes by the on-line monitoring message that receives, once find that the default passage of certain node cannot communicate, it is immediately switched to alternate channel and carries out bus communication, to guarantee that network data transmission is normal.
2. a kind of dual-redundant CAN bus communication system according to claim 1, it is characterized in that, the form of described on-line monitoring message includes message ID and message data field, described message ID includes source node address, described message data field includes function field and token number, it is Alive message or Ring message that described function field is used for distinguishing described on-line monitoring message, and described token number represents the node ID sending destination node extremely in described token ring.
3. a kind of dual-redundant CAN bus communication system according to claim 2, it is characterised in that described Alive message is represent the message whether node is online；Described Ring message is the message sent in redundancy handoff procedure；It is effective that described Alive message and described Ring message are 1.
4. a kind of dual-redundant CAN bus communication system according to claim 3, it is characterised in that after establishing described token ring, add network if any new node, then described redundancy feature module is followed following rule and re-established token ring:
1) arbitrary node all can send described Alive message after having initialized, and described token number is current default value；
2) arbitrary node has detected that when node ID meets two conditions, the token number then automatically updating self is the node ID detected, said two condition includes:
A) node ID value detected more than the node ID of self,
B) node ID value detected is less than the token number of self；
3) arbitrary node detects that the ID value of self is between source address and the token number of described Ring message that the Ring message received comprises, then send Alive message immediately, and token number is constant.
5. a kind of dual-redundant CAN bus communication system according to claim 4, it is characterized in that, described redundancy feature module passes through the timeout mechanism decision condition as network failure, if after the predetermined waiting time, do not receive the described Ring message of expectation, then judge the channel failure that should send the node of described Ring message.
6. a kind of dual-redundant CAN bus communication system according to claim 5, it is characterised in that described each redundant node includes:
The microcontroller shared and application program；
Two relatively independent CAN controller, including the first CAN controller and the second CAN controller, said two CAN controller works alone；
Two relatively independent CAN transceiver, including the first CAN transceiver and the second CAN transceiver, said two CAN transceiver meets the standard of ISO-11898-2,
Wherein, described microcontroller and the first CAN controller connect, the first CAN controller and the first CAN transceiver, and the first CAN transceiver is connected with the first CAN, to carry out the communication of default passage；
Described microcontroller and the connection of the second CAN controller, the second CAN controller and the second CAN transceiver, the second CAN transceiver is connected with the second CAN, to carry out the communication of alternate channel.
7. a kind of dual-redundant CAN bus communication system according to claim 6, it is characterized in that, on network, all described redundant nodes realize the double; two of on-line monitoring message on described two CAN passages and send out double; two receipts, monitor the node token ring status of described two CAN passages in real time, dynamically registering the presence of other nodes on two passages at intra-node, the presence thereby through node judges whether the passage of described node can be used.
8. a kind of dual-redundant CAN bus communication system according to claim 7, it is characterised in that any moment bus valid data communication is only transmitted on a passage, gives tacit consent to and communicate at default passage after system start-up.
9. a kind of dual-redundant CAN bus communication system according to claim 8, it is characterized in that, the fault freedom of described communication system includes following four classes fault: CAN_H and/or CAN_L of wall scroll CAN is short-circuit to CAN_L to the CAN_H of power supply short circuit, wall scroll CAN at CAN_H and/or CAN_L of the disconnection of main line somewhere, CAN_H and/or the CAN_L shorted to earth of wall scroll CAN, wall scroll CAN.
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| CN106789510A (en) * | 2016-12-21 | 2017-05-31 | 中国船舶重工集团公司第七研究所 | The data communications method of redundant CAN bus communication system |
| CN106789509A (en) * | 2016-12-21 | 2017-05-31 | 中国船舶重工集团公司第七研究所 | A kind of data communications method of redundant CAN bus communication system |
| CN107493217A (en) * | 2017-07-05 | 2017-12-19 | 宝沃汽车（中国）有限公司 | Data transmission method, device, battery management system and vehicle |
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| CN108023799A (en) * | 2017-11-10 | 2018-05-11 | 中国航空工业集团公司西安航空计算技术研究所 | A kind of airborne dual-redundancy CAN bus communication means |
| CN110650073A (en) * | 2019-09-12 | 2020-01-03 | 江苏伦肯智能科技有限公司 | CAN bus communication method for mass data transmission |
| CN111614532A (en) * | 2020-05-13 | 2020-09-01 | 湖北三江航天万峰科技发展有限公司 | CAN redundant communication system based on DSP |
| CN111786866A (en) * | 2020-09-04 | 2020-10-16 | 成都运达科技股份有限公司 | Redundant communication method for seamless switching of multiple communication buses |
| CN112947151A (en) * | 2021-01-28 | 2021-06-11 | 中国人民解放军93114部队 | Efficient filtering method and device based on vehicle double CAN buses |
| CN113726598A (en) * | 2021-08-20 | 2021-11-30 | 广州小鹏汽车科技有限公司 | Communication method and device and electronic equipment |
| CN113775415A (en) * | 2021-09-10 | 2021-12-10 | 潍柴动力股份有限公司 | Method and device for determining driving state of indicator lamp |
| CN114084157A (en) * | 2021-11-10 | 2022-02-25 | 国汽智控(北京)科技有限公司 | Configuration method, device, equipment and medium based on vehicular redundant reliable module |
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| CN114726676A (en) * | 2022-04-25 | 2022-07-08 | 宁波天擎航天科技有限公司 | Method for processing redundant message in CAN bus dual-channel backup |
| CN114884767A (en) * | 2022-05-07 | 2022-08-09 | 广州软件学院 | Synchronous dual-redundancy CAN bus communication system, method, equipment and medium |
| CN115473761A (en) * | 2022-09-14 | 2022-12-13 | 国核自仪系统工程有限公司 | Communication method, system, equipment and medium of CAN bus based on DCS system |
| CN115883280A (en) * | 2023-03-09 | 2023-03-31 | 成都凯天电子股份有限公司 | Redundant CAN network system based on undercarriage position sensor and switching method |
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| CN106789509B (en) * | 2016-12-21 | 2019-08-23 | 中国船舶重工集团公司第七一一研究所 | A kind of data communications method of redundant CAN bus communication system |
| CN106789510A (en) * | 2016-12-21 | 2017-05-31 | 中国船舶重工集团公司第七研究所 | The data communications method of redundant CAN bus communication system |
| CN106789509A (en) * | 2016-12-21 | 2017-05-31 | 中国船舶重工集团公司第七研究所 | A kind of data communications method of redundant CAN bus communication system |
| CN106789510B (en) * | 2016-12-21 | 2020-03-24 | 中国船舶重工集团公司第七一一研究所 | Data communication method of redundant CAN bus communication system |
| CN106774021A (en) * | 2017-02-16 | 2017-05-31 | 中国人民解放军海军工程大学 | Large-scale air bag vibration isolation device CAN network control system |
| CN106774021B (en) * | 2017-02-16 | 2023-10-27 | 中国人民解放军海军工程大学 | CAN bus network control system of large-scale air bag vibration isolation device |
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| CN107493217A (en) * | 2017-07-05 | 2017-12-19 | 宝沃汽车（中国）有限公司 | Data transmission method, device, battery management system and vehicle |
| CN107819618B (en) * | 2017-11-02 | 2020-07-31 | 长光卫星技术有限公司 | Voting type communication abnormity diagnosis method for small satellite |
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| CN108023799A (en) * | 2017-11-10 | 2018-05-11 | 中国航空工业集团公司西安航空计算技术研究所 | A kind of airborne dual-redundancy CAN bus communication means |
| CN108023799B (en) * | 2017-11-10 | 2021-07-16 | 中国航空工业集团公司西安航空计算技术研究所 | Airborne dual-redundancy CAN bus communication method |
| CN110650073A (en) * | 2019-09-12 | 2020-01-03 | 江苏伦肯智能科技有限公司 | CAN bus communication method for mass data transmission |
| CN110650073B (en) * | 2019-09-12 | 2021-06-11 | 江苏伦肯智能科技有限公司 | CAN bus communication method for mass data transmission |
| CN111614532A (en) * | 2020-05-13 | 2020-09-01 | 湖北三江航天万峰科技发展有限公司 | CAN redundant communication system based on DSP |
| CN111786866A (en) * | 2020-09-04 | 2020-10-16 | 成都运达科技股份有限公司 | Redundant communication method for seamless switching of multiple communication buses |
| CN112947151A (en) * | 2021-01-28 | 2021-06-11 | 中国人民解放军93114部队 | Efficient filtering method and device based on vehicle double CAN buses |
| CN112947151B (en) * | 2021-01-28 | 2023-05-12 | 中国人民解放军93114部队 | Efficient filtering method and device based on double CAN buses of vehicle |
| WO2023020458A1 (en) * | 2021-08-20 | 2023-02-23 | 广州小鹏汽车科技有限公司 | Communication method, electronic apparatus, vehicle, and storage medium |
| CN113726598A (en) * | 2021-08-20 | 2021-11-30 | 广州小鹏汽车科技有限公司 | Communication method and device and electronic equipment |
| CN113775415A (en) * | 2021-09-10 | 2021-12-10 | 潍柴动力股份有限公司 | Method and device for determining driving state of indicator lamp |
| CN114084157A (en) * | 2021-11-10 | 2022-02-25 | 国汽智控(北京)科技有限公司 | Configuration method, device, equipment and medium based on vehicular redundant reliable module |
| CN114084157B (en) * | 2021-11-10 | 2024-05-14 | 国汽智控(北京)科技有限公司 | Configuration method, device, equipment and medium based on redundancy reliable module for vehicle |
| CN114338358A (en) * | 2021-12-28 | 2022-04-12 | 深圳市英维克信息技术有限公司 | Data interaction method, data interaction equipment, storage medium and PLC |
| CN114338358B (en) * | 2021-12-28 | 2024-05-14 | 深圳市英维克信息技术有限公司 | Data interaction method, device, storage medium and PLC |
| CN114726676A (en) * | 2022-04-25 | 2022-07-08 | 宁波天擎航天科技有限公司 | Method for processing redundant message in CAN bus dual-channel backup |
| CN114884767A (en) * | 2022-05-07 | 2022-08-09 | 广州软件学院 | Synchronous dual-redundancy CAN bus communication system, method, equipment and medium |
| CN115473761B (en) * | 2022-09-14 | 2024-03-15 | 国核自仪系统工程有限公司 | Communication method, system, equipment and medium of CAN bus based on DCS system |
| CN115473761A (en) * | 2022-09-14 | 2022-12-13 | 国核自仪系统工程有限公司 | Communication method, system, equipment and medium of CAN bus based on DCS system |
| CN115883280B (en) * | 2023-03-09 | 2023-06-16 | 成都凯天电子股份有限公司 | Redundant CAN network system switching method based on landing gear position sensor |
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