CN105743755B - A kind of dual-redundant CAN bus communication system - Google Patents
A kind of dual-redundant CAN bus communication system Download PDFInfo
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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
-
- 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
-
- 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
-
- 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
Abstract
The present invention provides a kind of dual-redundant CAN bus communication system, comprising: two CAN bus, while several redundant nodes being connected in two CAN bus, each redundant node use active and standby formula hardware structure；Wherein, each redundant node includes redundancy feature module, and the superfluous function mold changing block executes: token ring is established in the size sequence of all redundant node node IDs；Each redundant node sends on-line monitoring message: being sorted according to the size of node ID, in addition to the maximum node of node ID, each node sends on-line condition monitoring message to that node ID value is bigger than node ID value itself and the smallest node of difference；On-line condition monitoring message is sent the smallest node of node ID by the maximum node of nodes ID；Each redundant node pass through the on-line monitoring message that receives judge its in CAN bus between other redundant nodes any channel state, once it was found that the default channel of some node can not communicate, it is immediately switched to alternate channel and carries out bus communication, to ensure that network data transmission is normal.
Description
Technical field
The present invention relates to data communication technology field more particularly to a kind of dual-redundant CAN bus communication systems.
Background technique
CAN bus communication system from the eighties in last century be born since, be widely used in automobile, it is civilian and
In national defense industry.The error detection and error handling mechanism of CAN protocol itself can guarantee the consistency of system communication well,
But in certain application fields, especially in national defense industry, CAN bus communication system does not ensure that its data link energy
Good communication quality is continued under the premise of significant trouble occurs.For this reason, it may be necessary to formulate superfluous on the basis CAN
Remaining mechanism, to guarantee under the conditions of significant trouble that system still can continue to carry out necessary communication.
Summary of the invention
The present invention is directed to the disadvantages mentioned above of the prior art, and the invention proposes a kind of dual-redundant CAN bus communication systems.
Dual-redundant CAN bus communication system of the invention, comprising:
Two CAN bus, to be referred to as the first CAN bus of default bus and the second CAN bus of referred to as redundant bus；
Several redundant nodes being connected in two CAN bus simultaneously, each redundant node use active and standby formula
Hardware structure；
Wherein, each redundant node includes redundancy feature module, and the redundancy feature mold changing block executes following functions:
All redundant nodes establish token ring according to the sequence of the size of node ID, i.e., all nodes form one and completely exist
Line status monitoring message sends processing ring；
Each redundant node sends on-line monitoring message: in addition to the maximum node of node ID, each node will be online
Monitoring message is sent to that node ID value is bigger than node ID value itself and the smallest node of difference；The maximum node of nodes ID
The smallest node of node ID is sent by on-line condition monitoring message；
Each redundant node passes through the shape that the on-line monitoring message received judges any channel of redundant node in CAN bus
State is immediately switched to alternate channel and carries out bus communication, to ensure net once finding that the default channel of some node can not communicate
The transmission of network data is normal.
Preferably, the format of the on-line monitoring message includes message ID and message data field, and the message ID includes source
Node address, the message data field include function field and token number, and the function field is for distinguishing the on-line monitoring message
It is Alive message or Ring message, the token number indicates the node ID for the destination node to be sent in the token ring.
Preferably, the Alive message is the message for indicating whether node is online；The Ring message is that redundancy switched
The message sent in journey；The Alive message and the Ring message are 1 effective.
Preferably, after establishing the token ring, network is added if any new node, then the redundancy feature module follows
Following rules re-establish token ring:
1) arbitrary node initialization can all send the Alive message after completing, and the token number is current default value；
2) when arbitrary node has detected that node ID meets two conditions, then the token number for automatically updating itself is to detect
Node ID, described two conditions include:
A) node ID value detected is greater than the node ID of itself,
B) node ID value detected is less than the token number of itself；
3) arbitrary node detects the source address and the Ring that itself ID value includes between the Ring message received
Between the token number of message, then Alive message is sent immediately, token number is constant.
Preferably, the redundancy feature module is by decision condition of the timeout mechanism as network failure, if predetermined
Waiting time after, do not receive the Ring message of expectation, then determine the logical of the node that should send the Ring message
Road failure.
Preferably, each redundant node includes:
Shared microcontroller and application program；
Two relatively independent CAN controllers, including the first CAN controller and the second CAN controller, described two CAN
Controller works independently；
Two relatively independent CAN transceivers, including the first CAN transceiver and the second CAN transceiver, described two CAN
Transceiver meets the standard of ISO-11898-2,
Wherein, the microcontroller is connect with the first CAN controller, the first CAN controller and the first CAN transceiver, the
One CAN transceiver is connect with the first CAN bus, to carry out the communication in default channel；
The microcontroller is connect with the second CAN controller, the second CAN controller and the second CAN transceiver, the 2nd CAN
Transceiver is connect with the second CAN bus, to carry out the communication of alternate channel.
Preferably, all redundant nodes realize on-line monitoring message on two CAN bus channels on network
Double hairs it is double receive, monitor the node token ring status in two CAN bus channels in real time, dynamically registered in intra-node
The presence of other nodes on two channels, to judge that the channel of the node whether may be used by the presence of node
With.
Preferably, any moment bus valid data communication is only transmitted on a channel, and default is lacking after system starting
Province channel is communicated.
Preferably, the error resilience performance of the communication system includes following four classes failure: the CAN_H of single CAN bus and/or
CAN_L is in the disconnection of main line somewhere, the CAN_H of the CAN_H and/or CAN_L shorted to earth of single CAN bus, single CAN bus
And/or CAN_L is short-circuit to CAN_L to the CAN_H of power supply short circuit, single CAN bus.
The beneficial effects of the present invention are the serious forgiveness for improving CAN bus communication system, while improving lifetime of system,
Increase the reliability of system.
Detailed description of the invention
Fig. 1 is the network topology structure figure of dual-redundant CAN bus communication system according to the present invention.
Fig. 2 is the architecture diagram of the redundancy CAN node of dual-redundant CAN bus communication system according to the present invention.
Fig. 3 is the schematic diagram that message ID structure defines.
Fig. 4 is on-line condition monitoring message function field schematic diagram.
Fig. 5 is the schematic diagram that on-line condition monitoring message transmits and receives logic chart.
Specific embodiment
Below in conjunction with attached drawing, the present invention is described in detail.Following embodiment is not limitation of the present invention.Not
Under the spirit and scope of inventive concept, various changes and advantages that will be apparent to those skilled in the art are all included in the present invention
In.
A kind of dual-redundant CAN bus communication system based on token ring of the invention, the selection of communication channel pass through section
Point on-line monitoring mechanism determines.Illustrate the software and hardware frame of system below according to Fig. 1 and Fig. 2.
Fig. 1 is the network topology structure figure of dual-redundant CAN bus communication system according to the present invention.Own in communication system
Redundant node is all made of the hardware structure of active and standby formula.Single communication node needs at least two CAN communication controllers, bus connection
Need two channels CAN, i.e. the first CAN bus (CAN1) and the second CAN bus (CAN2).Two buses are technically without appointing
What is distinguished, and the standard requirements of ISO-11898-2 should be met.
Specifically, each redundant node 1 includes:
Shared microcontroller 11 and application program；
Two relatively independent CAN controllers, including the first CAN controller 12 and the second CAN controller 14, it is described two
CAN controller works independently；
Two relatively independent CAN transceivers, including the first CAN transceiver 13 and the 2nd CAN15, described two CAN are received
Hair device meets the standard of ISO-11898-2,
Wherein, the microcontroller 11 is connect with the first CAN controller 12, and the first CAN controller 12 and the first CAN are received and dispatched
Device 13 connects, and the first CAN transceiver 13 is connect with the first CAN bus, to carry out the communication in default channel；
The microcontroller 11 is connect with the second CAN controller 14, the second CAN controller 14 and the second CAN transceiver 15
Connection, the second CAN transceiver 15 is connect with the second CAN bus, to carry out the communication of alternate channel.
Fig. 2 is the architecture diagram of the redundancy CAN node of dual-redundant CAN bus communication system according to the present invention.This hair
It is bright on basic CAN communication protocol stack upper layer, increase a set of redundancy switching mechanism function code packet (i.e. redundancy switching module).This
Code (module) is for connecting CAN communication protocol stack and system application layer protocol.In embedded systems, it is in middle layer position
It sets.
Redundancy CAN node needs support redundancy communication, then it should have support and lead in two independent CAN bus simultaneously
The ability of letter.In specific embodiment, it is preferable that on the basis of not concept transfer application program as far as possible, each redundant node
Software architecture meets:
Only a set of application program；
Only one node address (node ID)；
Only a set of communication and application parameter；
Only a set of node state management, including two independent channel state administrators.
As shown in Fig. 2, software architecture 2 include node application program 21, redundancy feature module 20 and CAN driving 25 (including
CAN1 driving 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, redundancy handoff functionality is realized by these modules.
Node application program 21: the application layer communication function of user's concern includes specific operational order, data packet transmission
Etc. contents.This module contents can according to need customized development according to the different demands of user.
Node address management 22: for defining the functional attributes of each node in network, each node is owned by uniquely
Node ID number.
Node communications applications parameter set 23: the sending cycle comprising period message, the message amount of big data packet send report
The contents such as the trigger condition of text.
Node state management module 24: by the communication function integrity degree of distinctive redundancy scheme predicate node, section is determined
The communication activity channel of point.The fault tolerance of network all passes through this software module and realizes.
CAN driving 25: basic CAN communication protocol stack, this module are generic program code packet.
The Extended Superframe Format that message is all made of 29 bit identifiers is sent and received in CAN network.As shown in figure 3, identifier
Each is defined as follows:
Bit28~Bit21 is known as source node address (Source ID, SID) for totally 8, for showing the transmission section of this message
Point, by data frame, sender is arranged, address range 0~254.
Bit20~Bit13 is known as destination node address (Destination ID, DID) for totally 8, for showing this message
Receiving node, by data frame, sender is arranged, address range 0~254, when destination address be 255 when, indicate broadcast data,
All nodes can receive the data.
Bit12~Bit5 totally 8 be known as data objects coding (Data Object Code, DOC), value range be 0~
255, totally 256 messages, indicate in multiframe transmission for distinguishing a plurality of message sent from the same channel of the same node, 0
The 1st frame, 255 indicate the 256th frames, when single frame transmission, set 0.
Bit4~Bit2 is to retain (Reserved, RSD), is used for protocol extension in future, when not used with 0 filling.
Bit1~Bit0 is the position frame type (Type Of Frame, TOF), identifies the message frame type, reports under normal circumstances
Text is single frame transmission, TOF=0, when message data is more than 8 byte, it is necessary to be transmitted using multiframe, in the first frame in multiframe
TOF=01B, the intermediate frame TOF=10B of multiframe, tail frame TOF=11B.
Redundancy feature module 20 is described in detail below.
Redundancy feature module 20 mainly realizes following functions.Increase on the basis of basic CAN bus communication protocol following
Content, to meet the requirement of system redundancy management:
On-line condition monitoring message
Node monitors mechanism on-line
The realization of redundancy scheme
1, on-line condition monitoring message
During network communication, in order to realize the real-time online detection of node, invention introduces new presences
Monitor message.On-line condition monitoring message point includes Alive message and Ring message.The message ID of two kinds of messages is consistent, by counting
It is distinguish according to the first character section of field.
It is as follows to monitor message format on-line:
The Byte0 of on-line condition monitoring message data field is function field, and total 8bit, each function be as shown in Figure 4.
Bit0 is Alive message indicating bit, and characterization current message is Alive message, automatic after all nodes power on successfully in net to send
One Alive message.Bit1 is Ring message indicating bit, and characterization current message is Ring message, realizes process in redundancy scheme
Middle transmission.R are reserved bit, when not used with 0 filling.Ring and Alive is 1 effective." h " indicates the data lattice of 16 systems
Formula.FFh (binary one 1111111) indicates to send message to all nodes.
The Byte1 of on-line condition monitoring message data field is the token number of the message, indicates to be sent to it next time
The node ID of Ring message, default value when node initializing is completed are the node ID of node itself.
2, node monitors mechanism on-line
To be effectively reduced nodal test process bring bus load, for every channel, the present invention is passed using network
The mode of token ring (abbreviation token ring) is passed to realize the function of node on-line monitoring.By taking n meshed network as an example, network transmitting
Token ring schematic diagram is as shown in Figure 5.
Fig. 5 describes monitoring between n node (Node_ID1, Node_ID2 ... node_IDn) and monitored closes
System, arrow direction indicate the sending direction of on-line condition monitoring message, and according to node ID, (node ID is message ID highests
8bit is detailed in the definition of identifier above) size sequence, in addition to the maximum node of node ID, each node will be in threadiness
State monitoring message is sent to that node ID value is big than node ID value itself and the smallest node of difference, forms monitoring and monitored relationship
It is right.And the maximum node of nodes ID needs to send on-line condition monitoring message to the smallest node of node ID.Finally
All nodes form a complete on-line condition monitoring message and send processing ring (token ring) in network.
3, the foundation of network node on-line monitoring ring (token ring)
It is automatic to send Alive message after all nodes are powered on and initialized successfully, subsequently into wait state.Alive report
Text includes node ID information, plays the online effect of report node.Below by taking three meshed networks as an example, illustrate that network node is online
The establishment process of ring is monitored, node ID takes 1,7,9 respectively.
All nodes are automatic after powering on to send Alive message, and subsequently into wait state, choosing waiting time T_Wait is
100ms.Before 100ms is arrived, 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 first Alive message sending instant, until on 100ms, network arbitrary node have received it is other
The Alive message of two nodes.That is, arbitrary node has all known the id information of all nodes on network, it is token ring
Foundation provide necessary information.All nodes are ranked up nodes ID, find oneself in message transmitting ring
Position.The transmission of Ring message since 100ms.After receiving node receives Ring message, the Ring message is checked
Token number, it is untreated if token number and own node ID are inconsistent, otherwise (token number of the Ring message received with
Own node ID is consistent) then start Ring message transmission mechanism, (such as 10ms) sends Ring message after the defined time.
Theoretically, the sequence for occurring message in network 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, Ring message can be cyclically by nodes all in network according to node
The sequence of ID from small to large is sent, and with the presence of this predicate node, so as to know the channel status of node.It can
Ring message is received, illustrates that the channel is available.
The case where 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 token passing, if
There is new node that network is added, then builds ring again as follows.
In short, token ring, which is added, in new node should follow following rule:
1) arbitrary node initialization can all send Alive message after completing, and token number is that (i.e. itself is saved current default value
Point ID).
2) when the node ID number that arbitrary node detects meets following two conditions, then token number is automatically updated, by token
Number the node ID detected is updated to as new token number.
A) node ID value detected is greater than own ID number, and
B) node ID value detected is less than own token number.
3) arbitrary node detects the SID (source address) and the report that the ID value of itself includes between the Ring message received
Between the token number of text, then Alive message is sent immediately, token number is constant.
The case where dynamic loss of network node is described below.
When in network some node break down, or suddenly power down again or other bus failures, always will lead to
Established token ring is destroyed.Decision condition of the present invention using timeout mechanism as network failure.When token is transferred to event
When hindering node, Ring message would not be sent out again to be come, and token ring is destroyed, and all nodes are waited for, directly
To scheduled time (such as 20ms) was waited after the past, if the Ring message that do not expect still occurs, all nodes
Enter communication initialization state simultaneously.It reopens and builds ring process.
Mechanism is monitored on-line based on invention discussed above node, for dual redundant network, it is desirable that own on network
Node is realized that double hairs of on-line monitoring message are double on two CAN bus channels and is received, and monitors CAN1 in real time and CAN2 two logical
The node token ring status in road dynamically registers the presence of other nodes on two channels in intra-node.A node will be with
Before information exchange occurs for B node, confirm that A node and communicating for B node are logical by the presence of the node of aforementioned acquisition
Road is defaulted if two channels can communicate using the channel CAN1.
To reduce node power operation to influence caused by network, it is specified that receiving in Ring message time-out procedure, Suo Youjie
Point is still communicated using the last used channel CAN.
About number of nodes, communication system of the invention theoretically supports that single network segment interior nodes quantity is up to 255, but
In view of real system operating condition is very severe, and to the high request of system reliability and service life, it is preferable that in system communication
Under conditions of rate is 250kbps, single network segment interior nodes maximum quantity is no more than 35.
About error resilience performance, the error resilience performance of communication system of the invention includes following four classes failure:
Single CAN line CAN_H and (or) CAN_L is disconnected in main line somewhere
Single CAN line CAN_H and (or) CAN_L shorted to earth
Single CAN line CAN_H and (or) CAN_L are to power supply short circuit
Single CAN line CAN_H is to CAN_L short circuit
The bus communication speed of communication system of the invention can be 250Kbit/s, can permit under this traffic rate
Perhaps the maximum length of bus is 200 meters, and other traffic rates such as 500Kbit/s, 1000Kbit/s can also be by as option
This system is used.
Obviously, those of ordinary skill in the art it should be appreciated that more than embodiment be intended merely to illustrate this
Invention, and be not used as limitation of the invention, as long as in spirit of the invention, to embodiment described above
Variation, modification will all fall within the scope of claims of the present invention.
Claims (8)
1. a kind of dual-redundant CAN bus communication system characterized by comprising
Two CAN bus, to be referred to as the first CAN bus of default bus and the second CAN bus of referred to as redundant bus；
Several redundant nodes being connected in two CAN bus simultaneously, each redundant node use active and standby formula hardware
Framework；
Wherein, each redundant node includes redundancy feature module, and the redundancy feature module executes following functions:
All redundant nodes establish token ring according to the sequence of the size of node ID, i.e., all nodes form one completely in threadiness
State monitors message and sends processing ring；
Each redundant node sends on-line monitoring message: in addition to the maximum node of node ID, each node will be monitored on-line
Message is sent to that node ID value is bigger than node ID value itself and the smallest node of difference；The maximum node of nodes ID will be
Line status monitoring message is sent to the smallest node of node ID；
Each redundant node pass through the on-line monitoring message that receives judge its in CAN bus between other redundant nodes it is any
The state in channel is immediately switched to alternate channel and carries out bus communication once finding that the default channel of some node can not communicate,
To ensure that network data transmission is normal,
After establishing the token ring, network is added if any new node, then the redundancy feature module follows following rule weights
Newly establish token ring:
1) arbitrary node initialization can all send Alive message after completing, and token number is current default value；
2) when the node ID that arbitrary node detects meets two conditions, then the token number for automatically updating itself is the section detected
Point ID, described two conditions include:
A) node ID value detected is greater than the node ID of itself,
B) node ID value detected is less than the token number of itself；
3) arbitrary node detects the source address and the Ring that itself node ID value includes between the Ring message received
Between the token number of message, then Alive message is sent immediately, token number is constant.
2. a kind of dual-redundant CAN bus communication system according to claim 1, which is characterized in that the on-line monitoring report
The format of text includes message ID and message data field, and the message ID includes source node address, and the message data field includes function
Energy field and token number, the function field are the Alive message or Ring report for distinguishing the on-line monitoring message
Text, the token number indicate the node ID for the destination node to be sent in the token ring.
3. a kind of dual-redundant CAN bus communication system according to claim 2, which is characterized in that the Alive message is
Indicate the whether online message of node；The Ring message is the message sent in redundancy handoff procedure；The Alive message and
The Ring message is 1 effective.
4. a kind of dual-redundant CAN bus communication system according to claim 3, which is characterized in that the redundancy feature mould
Block is by decision condition of the timeout mechanism as network failure, if not receiving expectation after the scheduled waiting time
The Ring message then determines the channel failure that should send the node of the Ring message.
5. a kind of dual-redundant CAN bus communication system according to claim 4, which is characterized in that each redundancy section
It puts and includes:
Shared microcontroller and application program；
Two relatively independent CAN controllers, including the first CAN controller and the second CAN controller, described two CAN controls
Device works independently；
Two relatively independent CAN transceivers, including the first CAN transceiver and the second CAN transceiver, described two CAN transmitting-receivings
Device meets the standard of ISO-11898-2,
Wherein, the microcontroller is connect with the first CAN controller, and the first CAN controller is connect with the first CAN transceiver, the
One CAN transceiver is connect with the first CAN bus, to carry out the communication in default channel；
The microcontroller is connect with the second CAN controller, and the second CAN controller is connect with the second CAN transceiver, the 2nd CAN
Transceiver is connect with the second CAN bus, to carry out the communication of alternate channel.
6. a kind of dual-redundant CAN bus communication system according to claim 5, which is characterized in that all described on network
Redundant node is realized that double hairs of on-line monitoring message are double in two CAN bus and is received, and it is total to monitor two CAN in real time
The node token ring status of line dynamically registers the presence of other nodes on two channels in intra-node, to pass through
The presence of node judges whether the channel of the node can be used.
7. a kind of dual-redundant CAN bus communication system according to claim 6, which is characterized in that any moment bus has
Effect data communication is only transmitted on a channel, is defaulted after system starting and is communicated in default channel.
8. a kind of dual-redundant CAN bus communication system according to claim 7, which is characterized in that the communication system
Error resilience performance includes following four classes failure: the CAN_H and/or CAN_L of single CAN bus are total in the disconnection of main line somewhere, single CAN
CAN_H and/or CAN_L shorted to earth, the CAN_H and/or CAN_L of single CAN bus of line are total to power supply short circuit, single CAN
The CAN_H of line is to CAN_L short circuit.
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|---|---|---|---|---|
| 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 |
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