CN106330640A - Data cross transmission method based on CAN bus - Google Patents
Data cross transmission method based on CAN bus Download PDFInfo
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- CN106330640A CN106330640A CN201610681430.3A CN201610681430A CN106330640A CN 106330640 A CN106330640 A CN 106330640A CN 201610681430 A CN201610681430 A CN 201610681430A CN 106330640 A CN106330640 A CN 106330640A
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- data
- mailbox
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- frame
- bus
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Classifications
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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
Abstract
The invention belongs to a data cross transmission technology in a multi-redundancy system, and specifically relates to a data cross transmission method based on a CAN bus. The invention provides a multi-redundancy data cross transmission method based on a CAN bus communication technology. Data transmission between multiple redundancies is realized through a CAN bus. Bus load is saved. Data sending and receiving is made simpler. The deficiency of the existing point-to-point transmission is solved by making use of the advantages of broadcast communication. The purposes of high flexibility, low cost, and simple hardware and software processing are achieved.
Description
Technical field
The invention belongs to the data cross transmission technology in multiplicated system, be specifically related to a kind of number based on CAN
According to Cross transfer method.
Background technology
In multiplicated system, each remaining needs to be counted alternately with other remainings by Cross transfer technology cycle
According to so that each remaining can obtain the data of other remainings, the most just can carry out periodically monitoring and the table of system margin
Certainly.Need software, hardware for the corresponding data transmission method of Demand Design of multiplicated system to complete the friendship of data for this
Fork transmission.
Existing Cross transfer technology uses point-to-point host-host protocol, and each remaining needs and transmission to be interacted
Other remainings individually communicate.Assuming that current remaining quantity is n, the corresponding quantity needing point-to-point transmission bus is k；So when
When remaining quantity becomes n+1, the corresponding quantity needing point-to-point transmission bus is k+n；So become n+2 when remaining quantity
Time, the corresponding quantity needing point-to-point transmission bus is k+n+n+1.
As depicted in figs. 1 and 2, in 3 redundant systems, each remaining needs (to be comprised by 2 point-to-point transmission buses and connect
Receive and sending function) communicate with two other remainings respectively, 3 remainings need to design 3 point-to-point biographies the most altogether
Defeated bus；In 4 redundant systems, each remaining needs to be entered with two other remainings respectively by 3 point-to-point transmission buses
Row communication, 4 remainings need to design 6 point-to-point transfer bus the most altogether.
Existing point-to-point transmission technology has the following disadvantages and defect.
1, very flexible, is required for the quantitative design corresponding hardware transport bus of redundant system, just has several remaining
Need the transfer bus of design customization respective numbers；
2, cost is high, and when remaining increasing number, corresponding cost of hardware design can be multiplied；
3, transmitting-receiving processes complexity, needs to receive the data of other remainings from each bus, and the process adding software is born
Load.
Controller Area Network BUS (CAN, Controller Area Network) is a kind of serial for application in real time
Communications protocol bus, the characteristic of CAN protocol includes the serial data communication of integrity, provides real-time support, transfer rate up to
1Mb/s, has error detecing capability simultaneously, is widely applied in fields such as car industry, aircraft industry, Industry Control, security protections.
Node in CAN network regardless of principal and subordinate, any node all can the most on one's own initiative on network other nodes send information,
Communication mode is flexible, it is possible to achieve the several ways such as point-to-point, point to multi--point and overall situation broadcast transmit and receive data, it is not necessary to specially
The scheduling of door.
Summary of the invention
It is an object of the invention to realize redundance data cross transmission method based on CAN communication technology, utilize wide
The advantage broadcasting formula communication solves the problem that existing point-to-point transmission brings, and reaches motility height, low cost, software and hardware process simply
Purpose.
Technical scheme is as shown in Figure 3.Each remaining is connected in CAN, due to CAN as a node
Bus is broadcast type bus, and each node can receive the data that other nodes send from CAN, and this node is sent out in bus
The data sent can be received by other arbitrary nodes, utilizes the strobe utility of CAN, each node only can be arranged as required to
Receive the message needed.Each CAN controller provides a number of message mailbox for messaging, can be by
Postbox installment is that reception state is to receive the Frame that other nodes send, it is also possible to ID and the data of related data frame are inserted
Data are sent by CAN controller from trend bus after mailbox.Owing to being broadcast type bus, when carrying out data and sending,
Require to ensure the uniqueness of Frame ID, i.e. each communication node can not send the data of identical ID, each
The data that each node is sent, only need in bus transmission primaries, other all nodes can be made to complete
Acquisition to these data, the number of times that the information that greatly reduces is mutual, reduce the load of system.
Using the technical program can reduce the design complexities of hardware, each remaining is only used as a CAN node and connects
In CAN system, it is not necessary to individually carry out point-to-point connection with other remainings again, remaining quantity can flexible expansion, as needed
Increase remaining, only need to newly-increased remaining be accessed in CAN system, soft as a CAN node at hardware view
Part aspect only need to be planned again needs mutual data.Owing to the Frame of CAN itself contains CRC check function, can
Fully ensuring that the integrity of data, software, without verifying data, decreases the process of process again.
Accompanying drawing explanation
Fig. 1 is the embodiment of 3 remaining Point-to-Point Data Cross transfer technology；
Fig. 2 is the embodiment of 4 remaining Point-to-Point Data Cross transfer technology；
Fig. 3 is the embodiment of redundance data cross transmission technology based on CAN；
Detailed description of the invention
3 the invention will be further described below in conjunction with the accompanying drawings.Detailed description of the invention is shown in following steps.
Step 1: each CAN node is connected composition CAN communication system；Each CAN node only need to be by CAN_H-height electricity
Gentle CAN_L-low level is connected respectively to the high level of CAN and communicates with carrying out realization in low level；
Step 2: analyze the data interaction amount of system, due to message mailbox capacity limit, according to the size of transmission data volume,
May need that data are split to multiple ID to send, the corresponding mailbox of each ID, the data therefore sent by each node
Plan and split, be allocated by Frame, determine No. ID and the interior data sent of corresponding mailbox of each Frame
Form, plan each mailbox be as send or receive capabilities uses；
Step 3: initialize the CAN controller of each node, the traffic rate of bus is set；
Step 4: initial message mailbox, arranges and sends the Frame ID that mailbox is corresponding, and data to be sent in mailbox are temporary
Not inserting, arranging simultaneously and receiving the ID of mailbox is corresponding No. ID of Frame needing other remainings received to send, and will connect
Receiving postbox installment is reception state；
Step 5: after entering periodic task, each node sends the number of this node according to the planning in step 1 to bus
According to, each node is sent to the Frame of CAN and can automatically determine priority according to frame ID and be automatically performed transmission；According to
The strobe utility of CAN, when, after the Frame receiving bus, query messages mailbox understood by CAN controller, confirms this data
Frame is the Frame that this node needs, and places data in the message mailbox of correspondence, otherwise can filter out this Frame；Pass through
Whether the Frame receiving mailbox inquiry other nodes transmission to be received arrives, if had arrived at, reads number in mailbox
According to, and data are carried out reverse operating according to step 1, i.e. carry out data merging；
Step 6: the state of inquire-receive mailbox successively, completes to receive data from other nodes；Shape in each node
Become remaining data, not only contain the data of self in each node, also contains the data from other nodes；Can enter subsequently
Enter monitoring and the voting process of remaining data.
Embodiment
The CAN data cross transmission of 3 redundant systems is described below in detail as a example by MPC5644A processor development board.
MPC5644A processor is the SOC(system on a chip) of a kind of high integration, further comprises abundant peripheral hardware, Qi Zhongyou in addition to CPU core
3 independent CAN controllers (CAN_A, CAN_B, CAN_C), each CAN controller provides 64 message mailbox
For communicating, each message mailbox can transmit the data of 8 bytes, and the present embodiment uses front 60 mailboxes, last 4 mailboxes
Retain.MPC5644A processor development board (hereinafter referred to as development board) has devised relevant CAN driver, only needs 3
CAN_A controller on individual development board can simulate the CAN communication of 3 redundant systems.
The CAN_A driver of the MPC5644A processor in each remaining (hereinafter also referred to as node) is performed both by following
Step.
Step 1): the high level of CAN_A on 3 development boards, low level are connected respectively to together, form CAN communication
System.
Step 2): communicating planning, in the case of 3 remainings transmission data volumes are identical, each remaining at most can profit
It is used for sending the data of self with 20 mailboxes, utilizes 40 mailboxes for receiving the data that two other remaining sends respectively.
Under this method of salary distribution, each remaining at most can disposably transmit the data of 160 bytes.
Bus ID is planned: the CAN data ID that remaining 1 sends is 0x0101 to 0x0114, totally 20 different ID；Remaining
The CAN data ID of degree 2 transmission is 0x0201 to 0x0214, totally 20 different ID；The CAN data that remaining 3 sends
ID is 0x0301 to 0x0314, totally 20 different ID.
Mailbox 1 to mailbox 20 is set and uses for sending data, according to above bus ID planning, be respectively provided with transmission mailbox
ID, the ID receiving mailbox is set simultaneously, is used for receiving the data of other two remainings, detailed functions distribution and ID arrange and see below
Table:
Step 3): initializing the CAN controller of each node, the traffic rate arranging bus is 1Mb/s.
Step 4): and corresponding mailbox is set according to the planning of step 2, No. ID of the mailbox needing transmission is set, simultaneously
The mailbox that setting is to be received is in reception state.
Step 5): after entering periodic task, first send the data of front 20 mailboxes in own node, then inquire about postal
Whether the data in case 21 to mailbox 60 have arrived at, if had arrived at, read data in mailbox.
Step 6): it is sequentially completed and receives data from other nodes, in each node, form remaining data, the most each
Not only contain the data of self in node, also contains the data from other nodes.Next remaining data can be entered
Monitoring and voting process.
The present invention can also have other various embodiments, without departing from the spirit and substance of the case in the present invention, is familiar with this
The technical staff in field is when making various corresponding change and deformation according to the present invention, but these change accordingly and deform all
The protection domain of appended claims of the invention should be belonged to.
Claims (1)
1. a data cross transmission method based on CAN, it is characterised in that comprise the following steps:
Step 1: each CAN node is connected composition CAN communication system；Each CAN node only need to by CAN_H-high level and
CAN_L-low level is connected respectively to the high level of CAN and communicates with carrying out realization in low level；
Step 2: analyze the data interaction amount of system, due to message mailbox capacity limit, according to the size of transmission data volume, may
Need that data are split to multiple ID to send, the corresponding mailbox of each ID, therefore the data that each node sends are carried out
Planning and fractionation, be allocated by Frame, determines No. ID and the lattice of the interior data sent of corresponding mailbox of each Frame
Formula, plans that each mailbox is as transmission or receive capabilities uses；
Step 3: initialize the CAN controller of each node, the traffic rate of bus is set；
Step 4: initial message mailbox, arranges and sends the Frame ID that mailbox is corresponding, and data to be sent in mailbox wouldn't be filled out
Entering, arranging simultaneously and receiving the ID of mailbox is corresponding No. ID of Frame needing other remainings received to send, and will receive postal
Case is set to reception state；
Step 5: after entering periodic task, each node sends the data of this node according to the planning in step 1 to bus, often
Individual node is sent to the Frame of CAN and can automatically determine priority according to frame ID and be automatically performed transmission；According to CAN
Strobe utility, when after the Frame receiving bus, CAN controller can query messages mailbox, confirm that this Frame is this
The Frame that node needs, and place data in the message mailbox of correspondence, otherwise can filter out this Frame；By receiving postal
Whether the Frame that other nodes that case inquiry is to be received send arrives, if had arrived at, reads data in mailbox, and
Data are carried out reverse operating according to step 1, i.e. carries out data merging；
Step 6: the state of inquire-receive mailbox successively, completes to receive data from other nodes；Formed remaining in each node
Degrees of data, not only contains the data of self, also contains the data from other nodes in each node；Can enter remaining subsequently
The monitoring of degrees of data and voting process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610681430.3A CN106330640A (en) | 2016-08-17 | 2016-08-17 | Data cross transmission method based on CAN bus |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610681430.3A CN106330640A (en) | 2016-08-17 | 2016-08-17 | Data cross transmission method based on CAN bus |
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| CN106330640A true CN106330640A (en) | 2017-01-11 |
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| CN201610681430.3A Pending CN106330640A (en) | 2016-08-17 | 2016-08-17 | Data cross transmission method based on CAN bus |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109981431A (en) * | 2019-03-15 | 2019-07-05 | 西安微电子技术研究所 | A kind of CAN controller data storage circuitry and date storage method |
| CN111650915A (en) * | 2019-10-14 | 2020-09-11 | 摩登汽车有限公司 | CAN bus control method and device, vehicle control unit, storage medium and vehicle |
| CN114979058A (en) * | 2022-06-30 | 2022-08-30 | 东风电驱动系统有限公司 | CAN multi-mailbox multiplexing processing method and system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109981431A (en) * | 2019-03-15 | 2019-07-05 | 西安微电子技术研究所 | A kind of CAN controller data storage circuitry and date storage method |
| CN109981431B (en) * | 2019-03-15 | 2021-09-14 | 西安微电子技术研究所 | CAN bus controller data storage circuit and data storage method |
| CN111650915A (en) * | 2019-10-14 | 2020-09-11 | 摩登汽车有限公司 | CAN bus control method and device, vehicle control unit, storage medium and vehicle |
| CN114979058A (en) * | 2022-06-30 | 2022-08-30 | 东风电驱动系统有限公司 | CAN multi-mailbox multiplexing processing method and system |
| CN114979058B (en) * | 2022-06-30 | 2023-10-03 | 东风电驱动系统有限公司 | CAN multi-mailbox multiplexing processing method and system |
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Application publication date: 20170111 |