CN107046493B - Communication means and device - Google Patents
Communication means and device Download PDFInfo
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- CN107046493B CN107046493B CN201710293588.8A CN201710293588A CN107046493B CN 107046493 B CN107046493 B CN 107046493B CN 201710293588 A CN201710293588 A CN 201710293588A CN 107046493 B CN107046493 B CN 107046493B
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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
- H04L12/40006—Architecture of a communication node
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/1851—Systems using a satellite or space-based relay
- H04B7/18513—Transmission in a satellite or space-based system
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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
- H04L12/40006—Architecture of a communication node
- H04L12/40019—Details regarding a bus master
-
- 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
- H04L12/40006—Architecture of a communication node
- H04L12/40032—Details regarding a bus interface enhancer
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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
- H04L2012/40267—Bus for use in transportation systems
- H04L2012/4028—Bus for use in transportation systems the transportation system being an aircraft
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- Astronomy & Astrophysics (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Data Exchanges In Wide-Area Networks (AREA)
- Mobile Radio Communication Systems (AREA)
- Radio Relay Systems (AREA)
Abstract
The disclosure is directed to a kind of communication means and devices, and applied in the satellite system including main controlled node and multiple controlled nodes, this method is applied to main controlled node, comprising: by a bus connecting with controlled node, send roll-call information to controlled node；In the first preset time period after the transmission of roll-call information, whether judgement receives the first data packet that controlled node is sent by bus used in roll-call information；If receiving the first data packet, judge whether destination address is master control address of node；If destination address is not the address of main controlled node, judge destination address and source address whether on same bus；If destination address and source address forward a packet to the first data on target bus corresponding with destination address not on same bus.Main controlled node is equivalent to a control hinge in this method, can coordinate different controlled nodes and upload data packet, and when needing to forward, data packet can be forwarded between different bus.
Description
Technical field
This application involves field of communication technology more particularly to a kind of communication means and device.
Background technique
Communication bus is to complete the information exchange between each subsystem of satellite, parts in star.Satellite usually by Star Service,
The subsystems such as attitude control, load, the energy, thermal control, communication, propulsion composition, the entirety to cooperate as one, each subsystem, portion
It needs to carry out information exchange between component.
Under normal conditions, the topological structure of star internal information flow is reticular structure, but in view of signal wire is too many, interface quantity
The factors such as limited, it is unpractical for carrying out communication using point-to-point connection mode in star, therefore system uses bus in star
It is a kind of inevitable choice.
In recent years there is much communication bus correlative study in Satellite, such as 1553, CAN (Controller Area
Network, controller local area network), 485,422 etc., these bus apparatus are required to dedicated interface.However the situation of reality
It is that the communication interface type of each star inner assembly is not quite similar, some compact packages are due to own dimensions, quality, power consumption, cost
Limitation is also impossible to the interfaces such as addition 1553, CAN, therefore on the basis of not changing interface, using all groups of a bus
Part connects, relatively difficult.
Summary of the invention
This application discloses a kind of communication means and device, with solve in background technique centre halfback's star can not using bus with
The problem of all components are communicated.
In order to solve the above technical problems, the application is disclosed directly below technical solution:
A kind of communication means, applied to include main controlled node and multiple controlled nodes satellite system in, the master control section
It puts and is communicated between the controlled node by bus, each controlled node is connect at least one bus, described
Communication means is applied to main controlled node, and the communication means includes:
By a bus connecting with the controlled node, roll-call information is sent to the controlled node；
In the first preset time period after roll-call information transmission, judgement passes through total used in the roll-call information
Whether line receives the first data packet that the controlled node is sent, and first data packet is with carrying destination address and source
Location；
If receiving the first data packet, judge the destination address whether be the main controlled node address；
If the destination address is not the address of the main controlled node, judge the destination address with source address whether same
In one bus；
If the destination address and source address forward a packet to first data and the purpose not on same bus
On the corresponding target bus in address.
Optionally, at least one bus by being connect with the controlled node, to the controlled node sending point
Name information, comprising:
Determining to be controlled the corresponding time division information of node with each, the time division information includes: controlled node mark
Know the corresponding relationship with timeslice, and the controlled node and timeslice correspond；
A determining bus being connected with each controlled node is as working bus；
According to all controlled address of node collating sequences, corresponding working bus is passed sequentially through to each quilt
It controls node and sends roll-call information.
Optionally, the method also includes:
If not receiving the first data packet, communication mistake count value corresponding with the controlled node is added 1, and according to setting
Continue to send roll-call information to the controlled node in fixed interval；
If the communication mistake count value is greater than default error thresholds, quilt corresponding with the roll-call information is determined
Control node communication abnormality；
Whether judgement is connected with multiple bus with the controlled node of the communication abnormality；
If the controlled node of the communication abnormality is connected with multiple bus, according in default bus standby list described
The spare bus of the controlled node of communication abnormality selects a bus as new working bus；
In next timeslice corresponding with the controlled node of the communication abnormality, by the new working bus to described
The controlled node of communication abnormality sends roll-call information.
Optionally, the method also includes:
The second data packet that satellite receiver is sent by the TTC channel being connected with the main controlled node；
Judge whether the destination address of second data packet is equal to the address of the main controlled node；
If the destination address of second data packet is not equal to the address of the main controlled node, second data packet is turned
It is dealt into bus corresponding with the destination address；
Alternatively,
If the destination address of first data packet and source address not on same bus, the method also includes:
Whether the destination address for judging first data packet is ground station address；
If the destination address of first data packet is ground station address, pass through the observing and controlling being connected with the main controlled node
First data packet is sent to earth station by link.
A kind of communication means, applied to include main controlled node and multiple controlled nodes satellite system in, the master control section
It puts and is communicated between the controlled node by bus, each controlled node is connect at least one bus, described
Communication means is applied to controlled node, and the communication means includes:
Roll-call information is received by least one bus being connected with the controlled node；
It will be determined as working bus in bus used in the roll-call information；
It sends the first data packet on the working bus receiving in the second preset time period after roll-call information.
Optionally, the work is sent by the first data packet receiving in the second preset time period after roll-call information
Before in bus, the method also includes:
All data to be forwarded packets are put into transmit queue, the data packet in the transmit queue follows first in, first out
Principle；
The data packet of sequence first in the transmit queue is determined as the first data packet；
Alternatively, after first data packet is sent, the method also includes:
Judge whether first data packet needs to receive confirmation message；
If not needing to receive confirmation message, the data packet of sequence first in the transmit queue is removed, by the transmission
The data packet of next sequence first is determined as the first new data packet in queue；
If desired confirmation message is received, judges whether receive in the third preset time period after first data packet is sent
To confirmation message；If receiving confirmation message, default communication abnormality value is set 0；If not receiving confirmation message, institute is retransmitted
The first data packet is stated, and sending times are counted；If sending times are greater than default repeating transmission threshold value, first number is lost
Add 1 according to packet, and by the default communication abnormality value；
If communication abnormality value is greater than default exceptional value threshold value, determine that the working bus is abnormal.
A kind of communication device, applied to include main controlled node and multiple controlled nodes satellite system in, the master control section
It puts and is communicated between the controlled node by bus, each controlled node is connect at least one bus, described
Communication device is applied to main controlled node, and the communication device includes:
Roll-call information transmitting unit, for a bus by being connect with the controlled node, to the controlled node
Send roll-call information；
Data packet receives judging unit, in the first preset time period after roll-call information transmission, judgement to be logical
Cross whether bus used in the roll-call information receives the first data packet that the controlled node is sent, first data
Packet carries destination address and source address；
Address judging unit, for when receiving the first data packet, judging whether the destination address is the master control
Address of node；
Bus judging unit, for judging the purpose when the destination address is not the address of the main controlled node
Whether address and source address are on same bus；
Retransmission unit, for when the destination address and source address be not on same bus, by first data packet
It is forwarded on target bus corresponding with the destination address.
Optionally, the roll-call information transmitting unit, comprising:
Time division information determines subelement, is controlled the corresponding time division information of node with each for determining, described
Time division information includes: the corresponding relationship of controlled node identification and timeslice, and the controlled node and timeslice one are a pair of
It answers；
Working bus determines subelement, total as work for a determining bus being connected with each controlled node
Line；
Transmission sub-unit, for passing sequentially through corresponding work according to all controlled address of node collating sequences
Bus sends roll-call information to each controlled node.
Optionally, described device further include:
Determination unit is counted, it, will communication mistake corresponding with the controlled node for the first data packet ought not received
Count value adds 1；
The roll-call information transmitting unit is also used to continue according to setting interval to send roll-call information to the controlled node；
Abnormal determination unit, for when the communication mistake count value is greater than default error thresholds, it is determining with it is described
The corresponding controlled node communication abnormality of roll-call information；
Bus judging unit, for judging whether be connected with multiple bus with the controlled node of the communication abnormality；
Bus switch unit, for when the controlled node of the communication abnormality is connected with multiple bus, according to default
Spare bus in bus standby list in the controlled node of the communication abnormality selects a bus as new working bus；
The transmission unit is also used to pass through in next timeslice corresponding with the controlled node of the communication abnormality
The new working bus sends roll-call information to the controlled node of the communication abnormality.
Optionally, described device further include:
Data packet receiving unit is sent for satellite receiver by the TTC channel being connected with the main controlled node
Second data packet；
First address judging unit, for judging whether the destination address of second data packet is equal to the main controlled node
Address；
Data packet forwarding unit, when for being not equal to the address of the main controlled node when the destination address of the data packet,
Second data are forwarded a packet in bus corresponding with the destination address；
Alternatively,
If the destination address of first data packet and source address be not on same bus, described device further include:
Second address judging unit, for judging whether the destination address of first data packet is ground station address；
Data packet sending unit, for when the destination address of first data packet be ground station address when, by with institute
It states the TTC channel that main controlled node is connected and first data packet is sent to earth station.
A kind of communication device, applied to include main controlled node and multiple controlled nodes satellite system in, the master control section
It puts and is communicated between the controlled node by bus, each controlled node is connect at least one bus, described
Communication device is applied to controlled node, and described device includes:
Roll-call information receiving unit receives letter of calling the roll at least one bus by being connected with the controlled node
Breath；
Working bus determination unit, for working bus will to be determined as in bus used in the roll-call information；
Data packet sending unit, for receiving the first data packet hair in the second preset time period after roll-call information
It is sent on the working bus.
Optionally, described device further include:
Data packet stacks unit, for all data to be forwarded packets to be put into transmit queue, in the transmit queue
Data packet follow first in, first out principle；
First data packet determination unit, for the data packet of the sequence first in the transmit queue to be determined as the first number
According to packet；
Alternatively, after first data packet is sent, described device further include:
Confirmation message judging unit, for judging whether first data packet needs to receive confirmation message；
First data packet updating unit, for when not needing to receive confirmation message, will sort the in the transmit queue
One data packet removes, and the data packet of sequence first next in the transmit queue is determined as the first new data packet；
Confirmation message judging unit, for when needing to receive confirmation message, judge the after the first data packet transmission
Whether confirmation message is received in three preset time periods；Communication abnormality setting unit will be pre- for when receiving confirmation message
If communication abnormality value sets 0；First data packet retransmission unit, for retransmitting described first when not receiving confirmation message
Data packet, and sending times are counted；The communication abnormality setting unit, for being greater than default repeating transmission door when sending times
Limit value loses first data packet, and the default communication abnormality value is added 1；
Abnormal determination unit, for determining the working bus when communication abnormality value is greater than default exceptional value threshold value
It is abnormal.
The technical scheme provided by this disclosed embodiment can include the following benefits:
This method provided by the embodiments of the present application, applied to the satellite system including main controlled node and multiple controlled nodes
In, it is communicated between the main controlled node and the controlled node by bus, each controlled node and at least one
Bus connection.In the satellite system, main controlled node is equivalent to a control hinge, can coordinate different controlled nodes and upload number
According to packet, and when needing to forward, data packet can be forwarded between different bus.So as long as on main controlled node
Interface compatibility, using original bus communication interface, can facilitate realize it is logical between different bus in system in different stars
Letter.Not only making the communications cost of system in star reduces, but also is conducive to the extension of the topological structure of system in star.
It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not
The disclosure can be limited.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the application
Example, and together with specification it is used to explain the principle of the application.
Technical solution in ord to more clearly illustrate embodiments of the present application or in background technique, below will be to embodiment or back
Attached drawing needed in scape technical description is briefly described, it should be apparent that, for those of ordinary skill in the art
Speech, without any creative labor, is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of structural schematic diagram of satellite system provided by the embodiments of the present application；
Fig. 2 is another structural schematic diagram of satellite system provided by the embodiments of the present application；
Fig. 3 is a kind of flow diagram of communication means provided by the embodiments of the present application；
Fig. 4 is a kind of structural schematic diagram of communication device provided by the embodiments of the present application；
Fig. 5 is a kind of structural schematic diagram of communication device provided by the embodiments of the present application.
Specific embodiment
In order to make those skilled in the art better understand the technical solutions in the application, below in conjunction with the application reality
The attached drawing in example is applied, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described implementation
Example is only a part of the embodiment of the application, instead of all the embodiments.Based on the embodiment in the application, this field is general
The application guarantor all should belong in logical technical staff every other embodiment obtained without making creative work
The range of shield.
Fig. 1 is a kind of structural schematic diagram of satellite system provided by the embodiments of the present application.
As shown in Figure 1, including: main controlled node 0 and multiple controlled node (figure label 1-6) main controlled nodes 0 and quilt in figure
It is communicated between control node by bus, in Fig. 1, bus includes: CAN (Controller Area Network, control
Device local area network) bus, SPI (Serial Peripheral Interface, Serial Peripheral Interface (SPI)) bus, I2C (Inter-
Integrated Circuit) bus and 422 buses.In the embodiment of the present application, main controlled node 0 has common interface such as
UART interface, CAN interface, SPI interface, I2C interface and 422 interfaces etc., so, main controlled node 0 can be with CAN bus, SPI
Bus, I2C bus and 422 bus direct communications, and pass through UART interface and a controlled node (node 6 is controlled in figure)
Directly communicated.In Fig. 1, when same bus is communicated from different nodes, using identical arrow, such as: CAN bus
It is indicated between all nodes using solid arrow, is communicated between I2C bus and node, using long dotted arrow come table
Show.
In the embodiment of the present application, each controlled node can be connect at least one bus, such as: in Fig. 1, it is controlled section
Point 3 can be communicated by CAN bus and I2C bus with main controlled node 0.Due to UART (Universal
Asynchronous Receiver/Transmitter, universal asynchronous receiving-transmitting transmitter) interface can only carry out point-to-point connection,
So controlled node 6 can only be communicated by a UART interface with main controlled node 0.In addition, since main controlled node only has one
A UART interface, so can be used when there is multiple controlled nodes to need to be communicated by UART interface with main controlled node 0
FPGA (Field-Programmable Gate Array, i.e. field programmable gate array) module 10 carries out ports-Extending, such as
Shown in Fig. 2, main controlled node 0 is carried out with controlled node 6, controlled node 7 respectively by two UART interfaces in FPGA module 10
Communication, main controlled node 0 by FPGA module 10 respectively with: CAN bus, spi bus, I2C bus and 422 buses are led to
Letter.
Fig. 3 is a kind of flow diagram of communication means provided by the embodiments of the present application.
This method apply in satellite system shown in Fig. 1 or Fig. 2, as shown in figure 3, the communication means may include following step
Suddenly.
S101, main controlled node are sent to the controlled node and are called the roll by a bus connecting with the controlled node
Information.
Main controlled node before operation, gets all controlled address of node lists, and main controlled node is preparatory in advance
Timeslice is divided according to the quantity of controlled node, obtains communication time slot corresponding with node is each controlled.It is each in this way
Controlled node has an independent corresponding communication time slot.
Specific data are not included in roll-call information, effect is to be controlled to be communicated with controlled node to determine
Whether node is online.In the embodiment of the present application, when sending roll-call information, the master control node can be according to all controlled nodes
The sequence of address successively sends roll-call information to each controlled node.The format of roll-call information is preset format, and this lattice
Formula is controlled node and has also predicted.
When controlled node is only connect with a bus, main controlled node can directly be sent by the bus to controlled node
Roll-call information.When controlled node is connect with multiple buses, the master control node can arbitrarily select in this multiple bus
Then one bus sends roll-call information to controlled node by the bus of the selection.
S102, controlled node receive roll-call information by least one bus being connected with the controlled node.
S103, controlled node will be determined as working bus in bus used in the roll-call information.
S104, controlled node send institute for the first data packet receiving in the second preset time period after roll-call information
It states on working bus.
S105, for main controlled node in the first preset time period after roll-call information transmission, judgement passes through the roll-call
Whether bus used in information receives the first data packet that the controlled node is sent.
First preset time period can be arranged on the basis of considering the factors such as upper time delay.
In the embodiment of the present application, the format of data packet has also been prenoticed to main controlled node, and the first data packet
Carry destination address and source address, and then after the master control node receives data, it can be according to being carried in format and its
Source address, can be accurately judged to whether be transmitted across roll-call information controlled node upload the first data packet.
If receiving the first data packet, step S106 is executed.Otherwise, terminate process.
S106, the master control node judge the destination address whether be the main controlled node address.
Play the role of being data transfer hub due to main controlled node, so when the master control node receives the first data packet
Afterwards, it first has to analyze the destination address of first data packet, what the first step needed to analyze is exactly that first data packet is
No is to be sent to main controlled node, is exactly whether omparison purpose address is consistent with the address of main controlled node by way of.
If the destination address is not the address of the main controlled node, step S107 is executed, otherwise, terminates process.
Whether S107, main controlled node judge the destination address and source address on same bus.
If destination address is not the address of main controlled node, prove that first data packet is not sent to main controlled node.
For this purpose, main controlled node need to judge destination address whether with source address on same bus, if anticipated on same bus
Taste the first data packet can be transmitted automatically in transmitted bus, main controlled node be not necessarily to first data packet at
Reason.But if not on same bus, then, it is necessary to main controlled node forwards a packet to first data in other buses.
If the destination address and source address not on same bus, execute step S108, otherwise, terminate process.
S108, main controlled node forward a packet to first data on target bus corresponding with the destination address.
When pre-registering all controlled addresss of node, also while being subordinate to pair between controlled node and bus is registered
Should be related to namely every bus on have which controlled node, and then when learning the destination address in the first data packet to be forwarded
Afterwards, corresponding relationship can be subordinate to according to aforementioned, finds target bus corresponding with the destination address.
This method provided by the embodiments of the present application, applied to the satellite system including main controlled node and multiple controlled nodes
In, it is communicated between the main controlled node and the controlled node by bus, each controlled node and at least one
Bus connection.In the satellite system, main controlled node is equivalent to a control hinge, can coordinate different controlled nodes and upload number
According to packet, and when needing to forward, data packet can be forwarded between different bus.So as long as on main controlled node
Interface compatibility, using original bus communication interface, can facilitate realize it is logical between different bus in system in different stars
Letter.Not only making the communications cost of system in star reduces, but also is conducive to the extension of the topological structure of system in star.
In addition, the interface quantity on main controlled node is less, not enough in use, can also make increasing a FPGA module
For expansion connection module, as shown in Fig. 2, in order to which main controlled node can be compatible with more buses.
In the embodiment of the present application, abovementioned steps S101 can use following steps when forwarding roll-call information.
S11, it is determining to be controlled the corresponding time division information of node with each.
The time division information includes: the corresponding relationship of controlled node identification and timeslice, and the controlled node with
Timeslice corresponds.It in the embodiment of the present application, can be in advance each controlled one independent timeslice of node division, with
Just specifically controlled node is communicated with this in the timeslice.
S12, the determining bus being connected with each controlled node of main controlled node is as working bus.
S13, main controlled node pass sequentially through corresponding working bus according to all controlled address of node collating sequences
Roll-call information is sent to each controlled node.
In the embodiment of the present application, main controlled node does not receive in the first preset time period after roll-call information transmission
To the first data packet, can also include the following steps.
Communication mistake count value corresponding with the controlled node is added 1 by S21, main controlled node, and according to setting interval after
Continue to the controlled node and sends roll-call information.
S22, main controlled node continue to send roll-call information to the controlled node according to setting interval.
S23, main controlled node determine controlled node communication abnormality corresponding with the roll-call information.
Whether S24, main controlled node judgement are connected with multiple bus with the controlled node of the communication abnormality.
S25, if the controlled node of the communication abnormality is connected with multiple bus, main controlled node is spare according to default bus
Spare bus in list in the controlled node of the communication abnormality selects a bus as new working bus.
S26, main controlled node pass through the new work in next timeslice corresponding with the controlled node of the communication abnormality
Make bus and sends roll-call information to the controlled node of the communication abnormality.
In this way, for the controlled node being connected with multiple bus, main controlled node can be by way of trial
It is switched between multiple buses, until finding the bus that can be communicated.But if some controlled node connection is all
After bus is all attempted, the first data packet of the controlled node feeding back is not received yet, then being assured that the controlled node is offline
Or failure, and node is controlled to this and is marked, it is subsequent to be no longer sent to it roll-call information, and at the same time can will distribute to
The timeslice of controlled node is rejected, and is optimized with realizing to the timeslice of distribution.
In the embodiment of the present application, main controlled node, usually can also be direct by data transmission equipment as data hub transmission
It is communicated with earth station, in order to realize the communication between earth station and controlled node, this method may also comprise the following steps:.
S31, the second number that main controlled node satellite receiver is sent by the TTC channel being connected with the main controlled node
According to packet；
S32, main controlled node judge whether the destination address of second data packet is equal to the address of the main controlled node；
S33, if the destination address of second data packet is not equal to the address of the main controlled node, main controlled node will be described
Second data forward a packet in bus corresponding with the destination address.
Correspondingly, after controlled node sends the first data packet by bus, the first data packet is judged in main controlled node
Destination address and source address not when on same bus, this method may also comprise the following steps:.
S41, main controlled node judge whether the destination address of first data packet is ground station address；
If the destination address of first data packet be ground station address, S42, main controlled node by with the main controlled node
First data packet is sent to earth station by the TTC channel being connected.
Pass through foregoing description, it is known that, either earth station sends data packet or controlled node to the ground to controlled node
It stands and sends data packet, main controlled node can be easily forwarded according to the destination address in data packet.
In the embodiment of the present application, it is receiving the transmission of the first data packet in the second preset time period after roll-call information
Before on to the working bus, it is further comprising the steps of.
All data to be forwarded packets are put into transmit queue by S51, controlled node.
Controlled node can not wait when there is data to need to send and receive roll-call information, just once by number to be forwarded
It is put into transmit queue according to packet, in order to send.In the embodiment of the present application, the data packet in transmit queue follows first in, first out
Principle.
The data packet of sequence first in the transmit queue is determined as the first data packet by S52, controlled node.
In this way, once receiving roll-call information, controlled node can be directly using first data packet as the first data
Packet, and send.
In addition, it is contemplated that data packet send after verification process, in the embodiment of the present application, this method can also include with
Lower step.
S61, after first data packet is sent, controlled node judges whether first data packet needs to receive really
Recognize message.
S62 is controlled node and moves the data packet of sequence first in the transmit queue if not needing to receive confirmation message
It removes, the data packet of sequence first next in the transmit queue is determined as the first new data packet.
S63, if desired receives confirmation message, and controlled node judges the third preset time after the first data packet transmission
Whether confirmation message is received in section.
S64, if receiving confirmation message, default communication abnormality value is set 0 by controlled node.
S65 is controlled node and retransmits first data packet if not receiving confirmation message, and to sending times into
Row counts.
S66 is controlled the first data packet described in node loss, and will be described if sending times are greater than default repeating transmission threshold value
Default communication abnormality value adds 1.
S67, if communication abnormality value is greater than default exceptional value threshold value, controlled node determines that the working bus is abnormal.
, on the one hand can be with self record after controlled node determines working bus exception, or reported by other channels, separately
On the one hand, any data no longer can be sent to main controlled node by the bus, so that controlled node is determined as by main controlled node
It is abnormal.
Through the above steps, it increases controlled node to verify the accuracy of the first data packet of transmission, with determination
The first data packet each of is sent, is successfully transmitted, avoids leading to indifferent empty hair due to bus exception, improving
The accuracy of data.
The scheme that the embodiment of the present application proposes is substantially a kind of virtual bus, can solve following two using virtual bus
A problem: (1) communication isomery bus between, i.e. communication between two different types of buses, such as CAN and 422 two
Bus may be implemented to solve the communication between CAN and 422 using this method provided by the embodiments of the present application；(2) can make not
The equipment for having bus interface participates in communicating by virtual bus, for example, some equipment only has UART serial line interface (as shown in figure 1
Shown in be controlled node 6), UART is not bus interface, equipment can by FPGA connection main controlled node, by with main controlled node
Information exchange is participated in turn in the communication of other buses.In the program provided by the embodiments of the present application, main controlled node is in information
Pivot may be implemented transmitting of the data between different bus, between non-bus Interface & Bus, be realized by time division multiple acess multipair
Multi-pass letter, virtual bus refers to the virtual bus established on the basis of physical bus, point-to-point communication, main controlled node control here
Controlled node is communicated by the way of time division multiple acess, and time division multiple acess refers to the time division multiple acess on virtual bus here.
By the description of above embodiment of the method, it is apparent to those skilled in the art that the application can
Realize by means of software and necessary general hardware platform, naturally it is also possible to by hardware, but in many cases the former
It is more preferably embodiment.Based on this understanding, the technical solution of the application substantially makes tribute to the prior art in other words
The part offered can be embodied in the form of software products, which is stored in a storage medium, packet
Some instructions are included to use so that a computer equipment (can be personal computer, server or the network equipment etc.) executes
The all or part of the steps of each embodiment the method for the application.And storage medium above-mentioned includes: read-only memory
(ROM), the various media that can store program code such as random access memory (RAM), magnetic or disk.
Fig. 4 is a kind of structural schematic diagram of communication device provided by the embodiments of the present application.
The device can be applied to, the main controlled node with
It is communicated between the controlled node by bus, each controlled node is connect at least one bus, the communication
Device is applied to main controlled node, as shown in figure 4, the communication device includes:
Roll-call information transmitting unit 11, for a bus by being connect with the controlled node, to the controlled section
Point sends roll-call information；
Data packet receives judging unit 12, for judging in the first preset time period after roll-call information transmission
The first data packet that the controlled node is sent, first number whether are received by bus used in the roll-call information
Destination address and source address are carried according to packet；
Address judging unit 13, for when receiving the first data packet, judging whether the destination address is the master
Control address of node；
Bus judging unit 14, for judging the mesh when the destination address is not the address of the main controlled node
Address and source address whether on same bus；
Retransmission unit 15, for when the destination address and source address be not on same bus, by first data
It forwards a packet on target bus corresponding with the destination address.
Device provided by the embodiments of the present application, applied to the satellite system including main controlled node and multiple controlled nodes
In, it is communicated between the main controlled node and the controlled node by bus, each controlled node and at least one
Bus connection.In the satellite system, main controlled node is equivalent to a control hinge, can coordinate different controlled nodes and upload number
According to packet, and when needing to forward, data packet can be forwarded between different bus.So as long as on main controlled node
Interface compatibility, using original bus communication interface, can facilitate realize it is logical between different bus in system in different stars
Letter.Not only making the communications cost of system in star reduces, but also is conducive to the extension of the topological structure of system in star.
In the application one embodiment, roll-call information transmitting unit, comprising:
Time division information determines subelement, is controlled the corresponding time division information of node with each for determining, described
Time division information includes: the corresponding relationship of controlled node identification and timeslice, and the controlled node and timeslice one are a pair of
It answers；
Working bus determines subelement, total as work for a determining bus being connected with each controlled node
Line；
Transmission sub-unit, for passing sequentially through corresponding work according to all controlled address of node collating sequences
Bus sends roll-call information to each controlled node.
In the application one embodiment, described device further include:
Determination unit is counted, it, will communication mistake corresponding with the controlled node for the first data packet ought not received
Count value adds 1；
The roll-call information transmitting unit is also used to continue according to setting interval to send roll-call information to the controlled node；
Abnormal determination unit, for when the communication mistake count value is greater than default error thresholds, it is determining with it is described
The corresponding controlled node communication abnormality of roll-call information；
Bus judging unit, for judging whether be connected with multiple bus with the controlled node of the communication abnormality；
Bus switch unit, for when the controlled node of the communication abnormality is connected with multiple bus, according to default
Spare bus in bus standby list in the controlled node of the communication abnormality selects a bus as new working bus；
The transmission unit is also used to pass through in next timeslice corresponding with the controlled node of the communication abnormality
The new working bus sends roll-call information to the controlled node of the communication abnormality.
In the application one embodiment, described device further include:
Data packet receiving unit is sent for satellite receiver by the TTC channel being connected with the main controlled node
Second data packet；
First address judging unit, for judging whether the destination address of second data packet is equal to the main controlled node
Address；
Data packet forwarding unit, when for being not equal to the address of the main controlled node when the destination address of the data packet,
Second data are forwarded a packet in bus corresponding with the destination address；
In another embodiment of the application, if the destination address of first data packet and source address be not in same bus
On, described device further include:
Second address judging unit, for judging whether the destination address of first data packet is ground station address；
Data packet sending unit, for when the destination address of first data packet be ground station address when, by with institute
It states the TTC channel that main controlled node is connected and first data packet is sent to earth station.
Fig. 5 is a kind of structural schematic diagram of communication device provided by the embodiments of the present application.
The device is applied in the satellite system including main controlled node and multiple controlled nodes, the main controlled node with it is described
It is communicated between controlled node by bus, each controlled node is connect at least one bus, the communication device
Applied to controlled node, as shown in figure 5, described device includes:
Roll-call information receiving unit 21 is received at least one bus by being connected with the controlled node and is called the roll
Information；
Working bus determination unit 22, for working bus will to be determined as in bus used in the roll-call information；
Data packet sending unit 23, for receiving the first data packet in the second preset time period after roll-call information
It is sent on the working bus.
In the device provided by the embodiments of the present application, for the controlled node being connected with multiple bus, main controlled node
It can be switched between multiple buses by way of trial, until finding the bus that can be communicated.
In the application one embodiment, which can also include:
Data packet stacks unit, for all data to be forwarded packets to be put into transmit queue, in the transmit queue
Data packet follow first in, first out principle；
First data packet determination unit, for the data packet of the sequence first in the transmit queue to be determined as the first number
According to packet.
In another embodiment of the application, after first data packet is sent, described device can also include:
Confirmation message judging unit, for judging whether first data packet needs to receive confirmation message；
First data packet updating unit, for when not needing to receive confirmation message, will sort the in the transmit queue
One data packet removes, and the data packet of sequence first next in the transmit queue is determined as the first new data packet；
Confirmation message judging unit, for when needing to receive confirmation message, judge the after the first data packet transmission
Whether confirmation message is received in three preset time periods；Communication abnormality setting unit will be pre- for when receiving confirmation message
If communication abnormality value sets 0；First data packet retransmission unit, for retransmitting described first when not receiving confirmation message
Data packet, and sending times are counted；The communication abnormality setting unit, for being greater than default repeating transmission door when sending times
Limit value loses first data packet, and the default communication abnormality value is added 1；
Abnormal determination unit, for determining the working bus when communication abnormality value is greater than default exceptional value threshold value
It is abnormal.
All the embodiments in this specification are described in a progressive manner, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for device or
For system embodiment, since it is substantially similar to the method embodiment, so describing fairly simple, related place is referring to method
The part of embodiment illustrates.Apparatus and system embodiment described above is only schematical, wherein the conduct
The unit of separate part description may or may not be physically separated, component shown as a unit can be or
Person may not be physical unit, it can and it is in one place, or may be distributed over multiple network units.It can root
According to actual need that some or all of the modules therein is selected to achieve the purpose of the solution of this embodiment.Ordinary skill
Personnel can understand and implement without creative efforts.
Herein, only emphasis describes the difference with other schemes to each preferred embodiment, as long as each preferred embodiment
Do not conflict, can any combination, embodiment is formed by after combination also within scope disclosed in this specification, it is contemplated that
Text is succinct, is individually described with regard to being no longer formed by embodiment to combination herein.
It is understood that the application can be used in numerous general or special purpose computing system environments or configuration.Such as: it is a
People's computer, server computer, handheld device or portable device, multicomputer system, are based on micro process at laptop device
The system of device, set top box, programmable consumer-elcetronics devices, network PC, minicomputer, mainframe computer including to take up an official post
The distributed computing environment etc. of what system or equipment.
The application can describe in the general context of computer-executable instructions executed by a computer, such as program
Module.Generally, program module includes routines performing specific tasks or implementing specific abstract data types, programs, objects, group
Part, data structure etc..The application can also be practiced in a distributed computing environment, in these distributed computing environments, by
Task is executed by the connected remote processing devices of communication network.In a distributed computing environment, program module can be with
In the local and remote computer storage media including storage equipment.
The above is only the specific embodiment of the application, is made skilled artisans appreciate that or realizing this Shen
Please.Various modifications to these embodiments will be apparent to one skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the application.Therefore, the application
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (12)
1. a kind of communication means, which is characterized in that applied to include main controlled node and multiple controlled nodes satellite system in, institute
It states and is communicated between main controlled node and the controlled node by bus, each controlled node and at least one bus connect
It connects, the communication means is applied to main controlled node, and the communication means includes:
By a bus connecting with the controlled node, roll-call information is sent to the controlled node；
In the first preset time period after roll-call information transmission, judgement is by bus used in the roll-call information
No the first data packet for receiving the controlled node and sending, first data packet carry destination address and source address；
If receiving the first data packet, judge the destination address whether be the main controlled node address；
If the destination address is not the address of the main controlled node, judge the destination address and source address whether same total
On line；
If the destination address and source address forward a packet to first data and the destination address not on same bus
On corresponding target bus.
2. the method according to claim 1, wherein at least one by being connect with the controlled node
Bus sends roll-call information to the controlled node, comprising:
It is determining to be controlled the corresponding time division information of node with each, the time division information include: controlled node identification with
The corresponding relationship of timeslice, and the controlled node and timeslice correspond；
A determining bus being connected with each controlled node is as working bus；
According to all controlled address of node collating sequences, corresponding working bus is passed sequentially through to each controlled section
Point sends roll-call information.
3. according to the method described in claim 2, it is characterized in that, the method also includes:
If not receiving the first data packet, communication mistake count value corresponding with the controlled node is added 1, and according between setting
Roll-call information is sent to the controlled node every continuation；
If the communication mistake count value is greater than default error thresholds, controlled section corresponding with the roll-call information is determined
Point communication abnormality；
Whether judgement is connected with multiple bus with the controlled node of the communication abnormality；
If the controlled node of the communication abnormality is connected with multiple bus, according in default bus standby list in the communication
The spare bus of abnormal controlled node selects a bus as new working bus；
In next timeslice corresponding with the controlled node of the communication abnormality, by the new working bus to the communication
Abnormal controlled node sends roll-call information.
4. the method according to claim 1, wherein the method also includes:
The second data packet that satellite receiver is sent by the TTC channel being connected with the main controlled node；
Judge whether the destination address of second data packet is equal to the address of the main controlled node；
If the destination address of second data packet is not equal to the address of the main controlled node, second data are forwarded a packet to
In bus corresponding with the destination address；
Alternatively,
If the destination address of first data packet and source address not on same bus, the method also includes:
Whether the destination address for judging first data packet is ground station address；
If the destination address of first data packet is ground station address, pass through the TTC channel being connected with the main controlled node
First data packet is sent to earth station.
5. a kind of communication means is applied to controlled node, corresponding to the communication as described in claim 1 for being applied to main controlled node
Method, which is characterized in that the communication means includes:
Roll-call information is received by least one bus being connected with the controlled node；
It will be determined as working bus in bus used in the roll-call information；
It sends the first data packet on the working bus receiving in the second preset time period after roll-call information.
6. according to the method described in claim 5, it is characterized in that, receiving in the second preset time period after roll-call information
Before sending the first data packet on the working bus, the method also includes:
All data to be forwarded packets are put into transmit queue, the data packet in the transmit queue follows first in, first out original
Then；
The data packet of sequence first in the transmit queue is determined as the first data packet；
Alternatively, after first data packet is sent, the method also includes:
Judge whether first data packet needs to receive confirmation message；
If not needing to receive confirmation message, the data packet of sequence first in the transmit queue is removed, by the transmit queue
In it is next sequence first data packet be determined as the first new data packet；
If desired confirmation message is received, judges whether receive really in the third preset time period after first data packet is sent
Recognize message；If receiving confirmation message, default communication abnormality value is set 0；If not receiving confirmation message, described the is retransmitted
One data packet, and sending times are counted；If sending times are greater than default repeating transmission threshold value, first data are lost
Packet, and the default communication abnormality value is added 1；
If communication abnormality value is greater than default exceptional value threshold value, determine that the working bus is abnormal.
7. a kind of communication device, which is characterized in that applied to include main controlled node and multiple controlled nodes satellite system in, institute
It states and is communicated between main controlled node and the controlled node by bus, each controlled node and at least one bus connect
It connects, the communication device is applied to main controlled node, and the communication device includes:
Roll-call information transmitting unit is sent for a bus by connecting with the controlled node to the controlled node
Roll-call information；
Data packet receives judging unit, in the first preset time period after roll-call information transmission, judgement to pass through institute
State whether bus used in roll-call information receives the first data packet that the controlled node is sent, first data packet is taken
With destination address and source address；
Address judging unit, for when receiving the first data packet, judging whether the destination address is the main controlled node
Address；
Bus judging unit, for judging the destination address when the destination address is not the address of the main controlled node
With source address whether on same bus；
Retransmission unit will first data packet forwarding for when the destination address and source address be not on same bus
Onto target bus corresponding with the destination address.
8. device according to claim 7, which is characterized in that the roll-call information transmitting unit, comprising:
Time division information determines subelement, is controlled the corresponding time division information of node, the time with each for determining
Division information includes: the corresponding relationship of controlled node identification and timeslice, and the controlled node and timeslice correspond；
Working bus determines subelement, for a determining bus being connected with each controlled node as working bus；
Transmission sub-unit, for passing sequentially through corresponding working bus according to all controlled address of node collating sequences
Roll-call information is sent to each controlled node.
9. device according to claim 7, which is characterized in that described device further include:
Determination unit is counted, for the first data packet ought not received, communication mistake corresponding with the controlled node is counted
Value plus 1；
The roll-call information transmitting unit is also used to continue according to setting interval to send roll-call information to the controlled node；
Abnormal determination unit is used for the determining and roll-call when the communication mistake count value is greater than default error thresholds
The corresponding controlled node communication abnormality of information；
Bus judging unit, for judging whether be connected with multiple bus with the controlled node of the communication abnormality；
Bus switch unit, for when the controlled node of the communication abnormality is connected with multiple bus, according to default bus
Spare bus in standby list in the controlled node of the communication abnormality selects a bus as new working bus；
The transmission unit is also used in next timeslice corresponding with the controlled node of the communication abnormality, by described
New working bus sends roll-call information to the controlled node of the communication abnormality.
10. device according to claim 7, which is characterized in that described device further include:
Data packet receiving unit, second sent for satellite receiver by the TTC channel being connected with the main controlled node
Data packet；
First address judging unit, for judging whether the destination address of second data packet is equal to the ground of the main controlled node
Location；
Data packet forwarding unit, when for being not equal to the address of the main controlled node when the destination address of the data packet, by institute
The second data are stated to forward a packet in bus corresponding with the destination address；
Alternatively,
If the destination address of first data packet and source address be not on same bus, described device further include:
Second address judging unit, for judging whether the destination address of first data packet is ground station address；
Data packet sending unit, for when the destination address of first data packet be ground station address when, by with the master
First data packet is sent to earth station by the TTC channel that control node is connected.
11. a kind of communication device is applied to controlled node, lead to corresponding to the as claimed in claim 7 of main controlled node is applied to
T unit, which is characterized in that described device includes:
Roll-call information receiving unit receives roll-call information at least one bus by being connected with the controlled node；
Working bus determination unit, for working bus will to be determined as in bus used in the roll-call information；
Data packet sending unit, for sending the first data packet to receiving in the second preset time period after roll-call information
On the working bus.
12. device according to claim 11, which is characterized in that described device further include:
Data packet stacks unit, for all data to be forwarded packets to be put into transmit queue, the number in the transmit queue
First in, first out principle is followed according to packet；
First data packet determination unit, for the data packet of the sequence first in the transmit queue to be determined as the first data
Packet；
Alternatively, after first data packet is sent, described device further include:
Confirmation message judging unit, for judging whether first data packet needs to receive confirmation message；
The first data packet updating unit will sequence first in the transmit queue for when not needing to receive confirmation message
Data packet removes, and the data packet of sequence first next in the transmit queue is determined as the first new data packet；
Confirmation message judging unit, for when needing to receive confirmation message, judging that the third after first data packet is sent is pre-
If whether receiving confirmation message in the period；Communication abnormality setting unit, for that default will lead to when receiving confirmation message
Letter exceptional value sets 0；First data packet retransmission unit, for retransmitting first data when not receiving confirmation message
Packet, and sending times are counted；The communication abnormality setting unit, for being greater than default repeating transmission thresholding when sending times
Value loses first data packet, and the default communication abnormality value is added 1；
Abnormal determination unit, for determining that the working bus is abnormal when communication abnormality value is greater than default exceptional value threshold value.
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