CN107547441A - CAN message filtering analytic method, system and electronic control unit - Google Patents
CAN message filtering analytic method, system and electronic control unit Download PDFInfo
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Abstract
The invention discloses CAN message filtering analytic method, system and electronic control unit, by the program copy in FLASH spaces corresponding to RAM_CODE_SEG code segments into corresponding ram space, when the reception of MCU operation CAN messages, filtering and analytical function, program counter automatically points to the ram space where RAM_CODE_SEG, and described program is run in RAM；CAN message reception, filtering and analytical function are performed in RAM, the run time of interrupt service routine can not only be reduced, the requirement to system stack can also be reduced, it is proposed a kind of message ID matching algorithms simultaneously, message ID matching algorithms are placed in interrupt service routine and carried out, message is reduced and receives the requirement of buffering area and CAN message parsing task message queue to RAM resources.
Description
Technical field
The present invention relates to technical field of automotive electronics, and analytic method, system and electronics control are filtered more particularly to CAN message
Unit processed.
Background technology
With the upgrading of automotive engineering and becoming increasingly abundant for function, the message of automobile electronic system CAN network is more and more,
For the specific CAN nodes in network, a large amount of useless messages can be received.Due to CAN controller hardware filtering function
It is limited, when CAN nodes need to receive and parse through multiple messages, hardware filtering function just can not be used, at present typically using soft
Part filtering filters out useless message, and when CAN network reaches certain load factor, frequently message reception, filtering and parsing can poles
The earth consumption MCU loads.On the other hand, the program of vehicle electronic control unit (ECU) is generally stored inside nonvolatile memory
In FLASH, when program is run, MCU reads instruction at the address that program counter points to.Because MCU internal RAM resources have
Limit, program typically runs in FLASH, and its reading speed of the limit decision of FLASH technologies is much smaller than RAM reading speeds, phase
Ying Di, speed of the speed of operation program much smaller than the operation program in RAM in FLASH.Message is carried out by software mode
When receiving, filter and parsing, ECU needs to consume substantial amounts of these tasks of RAM resources, instruction cycle and time-triggered protocol, not only shadow
Acoustic system real-time, certain require can be also proposed to MCU specifications.
By software filtering filtering useless message, there are two kinds of implementations：
1st, set sufficiently large CAN message to receive buffering area, and parse task for CAN message and sufficiently large message team is set
Row, in message is stored buffering area successively during CAN message receives interrupt service routine, then parse task to CAN message
Message is sent, the filtering useless message in CAN message parsing task, parses useful message.
2nd, set a certain size CAN message to receive buffering area, nothing is filtered out in CAN message receives interrupt service routine
With message, by useful packet storage into buffering area, message then is sent to CAN message parsing task, is appointed in CAN message parsing
Useful message is parsed in business.
During using the first implementation, if CAN network has the useless message that this large amount of node need not parse, need
Message is received into buffering area and CAN message parsing task message queue is set enough to big, buffering area is otherwise likely to occur and overflows
Go out or message queue overflows, cause the gross error of message dropping.Larger reception buffering area and packet parsing task message
Queue can consume a large amount of RAM resources, it may be necessary to MCU also more expensive when changing RAM more Datong District, so as to increase electronic component
Cost.
Using during second of implementation, it is necessary in the reception break service routine in carry out software filtering, using traversal ratio
Compared with method filtering packets, it is necessary to which the substantial amounts of instruction cycle, violates the more short better principle of interrupt service routine run time.Hold
Interruption occurs during row interrupt service routine again to may result in interrupt nesting or interrupt loss, interrupt nesting can be consumed largely
Limited storehouse resource, if stack overflow, unpredictable consequence can be caused.Interrupt the standard lost and can also influence system operation
True property and reliability.
Traversal comparison method refers to set a constant array, the message ID that array element parses for needs, by what is received
Message ID and array element are compared one by one, if the message ID received is equal with some array element, then it represents that CAN is saved
Point needs to parse this message.
Chinese invention patent：Software filtering method, system and the electronic control unit (application number of CAN message：
201410058072.1) a kind of software filtering method of CAN message, is described, it is slow that the invention is provided with several receptions
Area is rushed, the message ID stored in each buffering area is several fixation values, first packet storage into some buffering area, so
Several fixations ID corresponding to message ID and the buffering area is compared afterwards.This method can reduce ID number of comparisons, but need
Several are set to receive buffering area, before not only programming is more complicated, and receive buffering area memory storage is filtering
CAN message, it is necessary to consumption RAM resources it is relatively more.It is disconnected service journey in the reception moreover, the patent of invention does not illustrate
Sequence still carries out software filtering in packet parsing task.
The content of the invention
In order to solve the deficiencies in the prior art, the invention provides a kind of CAN message to filter analytic method, and it is in RAM
CAN message reception, filtering and analytical function are performed, the run time of interrupt service routine can not only be reduced, can also be reduced
Requirement to system stack, while a kind of message ID matching algorithms are proposed, message ID matching algorithms are placed on interrupt service routine
Middle progress, reduce message and receive the requirement of buffering area and CAN message parsing task message queue to RAM resources；
A kind of CAN message filters analytic method, as follows applied to electronic control unit, including step：
Step (1)：Initial phase on electronic control unit ECU after electric or reset, by RAM_CODE_SEG generations
Program copy corresponding to code section in FLASH spaces into corresponding ram space, when MCU operation CAN messages receive, filtering and
During analytical function, program counter automatically points to the ram space where RAM_CODE_SEG, and described program is run in RAM；
Step (2)：It is determined that effective message ID and number, number that needs parse are designated as VALID_NUM, effective message is established
ID value array Valid_id [VALID_NUM]；
Step (3)：CAN standard frame ID intervals are divided into 8 subintervals；
Step (4)：Determine that effective message ID is in Valid_id [VALID_ in each subinterval in the form of array index
NUM] in original position；Array Id_idx [9] is established, is corresponding to the minimum effectively message ID in i work songs section with Id_idx [i]
The subscript value of Valid_id [VALID_NUM] array element, Id_idx [8]=VALID_NUM；
Step (5)：In CAN message receives interrupt service routine, whether the ID for the message for judging to receive effectively is reporting
In the range of literary ID values array Valid_id [VALID_NUM], if it is not, then reception interrupt service routine is directly exited, it is no
Then enter step (6)；
Step (6)：The ID of the message received is moved to right 8, result is designated as idx；
Step (7)：Effective message ID value arrays Valid_id is used as using Id_idx [idx] and Id_idx [idx+1] -1
The subscript section of [VALID_NUM], the ID values in the ID of the message received and subscript section are compared one by one, if
Any one ID value is all unequal in the ID of the message received and the subscript section, then abandons the message received, directly
Reception interrupt handling routine is exited, otherwise into step (8)；
Step (8)：Message ID, place ID values subinterval label, message length, message data are stored in message and connect
Receive in buffering area, " receiving new message " message is sent to packet parsing task；
Step (9)：In packet parsing task, according to the label in ID values subinterval, by message ID and value
ID in section is compared, and extracts corresponding CAN signal, performs the operation of correlation.
The RAM_CODE_SEG code segments of the step (1), are arranged in threaded file, are the code segments of relocatable；
CAN message reception, filtering and analytical function defined in RAM_CODE_SEG code segments；After program is compiled, linking, burning program
When, the routine data storage being defined in RAM_CODE_SEG code segments is arrived FLASH spaces by MCU；
One section of FLASH space and one section and FLASH bulk identicals RAM are set in the code segment of the relocatable
Space, and FLASH spaces are reoriented to ram space.
In the step (2), according to ECU technical specification and CAN network matrix table, it is determined that needing the effective message parsed
ID and number；
The order of the effective message ID values parsed on demand in the step (2) from small to large is established effective message ID and taken
It is worth array Valid_id [VALID_NUM], minimum value is Valid_id [0], and maximum is Valid_id [VALID_NUM-1].
In the step (2), VALID_NUM and Valid_id [VALID_NUM] are constant, by technical specification and CAN
Network matrix table analysis is drawn.
In the step (3), CAN standard frames ID is 11, span 0x00-0x7ff, and CAN standard frames ID is taken
Value interval division is 8 subintervals；The ID spans in 8 subintervals are respectively 0x00-0xff, 0x100-0x1ff, 0x200-
0x2ff, 0x300-0x3ff, 0x400-0x4ff, 0x500-0x5ff, 0x600-0x6ff and 0x700-0x7ff, corresponding subinterval
Label is respectively 0,1,2,3,4,5,6 and 7.
In the step (4), according to ECU technical specification and CAN network matrix table, determined in the form of array index each
Original positions of effective message ID in Valid_id [VALID_NUM] in individual subinterval.
The method of the step (4) is as follows：
Assuming that the message ID values that this node needs to parse have 0x40,0x50 between 0 work song section 0x00-0xff,
0x60,0x70 ..., one is shared n, and ID values have a 0x140,0x150,0x160,0x170 ... between 0x100-0x1ff, and one
Shared m is individual, then Id_idx [0]=0, Id_idx [1]=n, Id_idx [2]=n+m ..., Id_idx [8]=VALID_NUM.
The step (5) first by the ID of the message received respectively with Valid_id [0] and Valid_id [VALID_
NUM-1] compare, if the ID of the message received is more than Valid_id [VALID_NUM-1] or less than Valid_id
[0], reception interrupt service routine is directly exited, otherwise into step (6).
The invention also provides another technical scheme：
A kind of CAN message filters resolution system, including：Electronic control unit ECU, computer instruction is stored thereon with, institute
State computer instruction and operationally perform following steps：
Step (1)：Initial phase on electronic control unit ECU after electric or reset, by RAM_CODE_SEG generations
Program copy corresponding to code section in FLASH spaces into corresponding ram space, when MCU operation CAN messages receive, filtering and
During analytical function, program counter automatically points to the ram space where RAM_CODE_SEG, and described program is run in RAM；
Step (2)：It is determined that effective message ID and number, number that needs parse are designated as VALID_NUM, effective message is established
ID value array Valid_id [VALID_NUM]；
Step (3)：CAN standard frame ID intervals are divided into 8 subintervals；
Step (4)：Determine that effective message ID is in Valid_id [VALID_ in each subinterval in the form of array index
NUM] in original position；Array Id_idx [9] is established, is corresponding to the minimum effectively message ID in i work songs section with Id_idx [i]
The subscript value of Valid_id [VALID_NUM] array element, Id_idx [8]=VALID_NUM；
Step (5)：In CAN message receives interrupt service routine, whether the ID for the message for judging to receive effectively is reporting
In the range of literary ID values array Valid_id [VALID_NUM], if it is not, then reception interrupt service routine is directly exited, it is no
Then enter step (6)；
Step (6)：The ID of the message received is moved to right 8, result is designated as idx；
Step (7)：Effective message ID value arrays Valid_id is used as using Id_idx [idx] and Id_idx [idx+1] -1
The subscript section of [VALID_NUM], the ID values in the ID of the message received and subscript section are compared one by one, if
Any one ID value is all unequal in the ID of the message received and the subscript section, then abandons the message received, directly
Reception interrupt handling routine is exited, otherwise into step (8)；
Step (8)：Message ID, place ID values subinterval label, message length, message data are stored in message and connect
Receive in buffering area, " receiving new message " message is sent to packet parsing task；
Step (9)：In packet parsing task, according to the label in ID values subinterval, by message ID and value
ID in section is compared, and extracts corresponding CAN signal, performs the operation of correlation.
The invention also provides another technical scheme：
A kind of electronic control unit, including：CAN controller, computer instruction is stored with the CAN controller, it is described
Computer instruction operationally performs following steps：
Step (1)：Initial phase on electronic control unit ECU after electric or reset, by RAM_CODE_SEG generations
Program copy corresponding to code section in FLASH spaces into corresponding ram space, when MCU operation CAN messages receive, filtering and
During analytical function, program counter automatically points to the ram space where RAM_CODE_SEG, and described program is run in RAM；
Step (2)：It is determined that effective message ID and number, number that needs parse are designated as VALID_NUM, effective message is established
ID value array Valid_id [VALID_NUM]；
Step (3)：CAN standard frame ID intervals are divided into 8 subintervals；
Step (4)：Determine that effective message ID is in Valid_id [VALID_ in each subinterval in the form of array index
NUM] in original position；Array Id_idx [9] is established, is corresponding to the minimum effectively message ID in i work songs section with Id_idx [i]
The subscript value of Valid_id [VALID_NUM] array element, Id_idx [8]=VALID_NUM；
Step (5)：In CAN message receives interrupt service routine, whether the ID for the message for judging to receive effectively is reporting
In the range of literary ID values array Valid_id [VALID_NUM], if it is not, then reception interrupt service routine is directly exited, it is no
Then enter step (6)；
Step (6)：The ID of the message received is moved to right 8, result is designated as idx；
Step (7)：Effective message ID value arrays Valid_id is used as using Id_idx [idx] and Id_idx [idx+1] -1
The subscript section of [VALID_NUM], the ID values in the ID of the message received and subscript section are compared one by one, if
Any one ID value is all unequal in the ID of the message received and the subscript section, then abandons the message received, directly
Reception interrupt handling routine is exited, otherwise into step (8)；
Step (8)：Message ID, place ID values subinterval label, message length, message data are stored in message and connect
Receive in buffering area, " receiving new message " message is sent to packet parsing task；
Step (9)：In packet parsing task, according to the label in ID values subinterval, by message ID and value
ID in section is compared, and extracts corresponding CAN signal, performs the operation of correlation.
Compared with prior art, the beneficial effects of the invention are as follows：
1st, in actual motion, CAN message receives MCU, filtering and analytical function can be reoriented in RAM and run, significantly
The speed that CAN message is received, filters and parsed is improved, improves system real time.
2nd, by setting ID values subinterval, reduce the number that ID compares, improve message filtering speed.
3rd, after the CAN message received is filtered processing, effective message is stored in and receives buffering area, reduces reception
Buffering area and the RAM resource requirements of CAN message parsing task message queue.
4th, according to the ID values subinterval obtained in interrupt service routine, ID is carried out in CAN message parsing task
Timing, ID number of comparisons can be reduced, improve packet parsing speed.
Brief description of the drawings
The Figure of description for forming the part of the application is used for providing further understanding of the present application, and the application's shows
Meaning property embodiment and its illustrate be used for explain the application, do not form the improper restriction to the application.
Fig. 1 is the overall workflow figure of the present invention；
Fig. 2 is the message filtering algorithm flow chart of the present invention.
Embodiment
It is noted that described further below is all exemplary, it is intended to provides further instruction to the application.It is unless another
Indicate, all technologies used herein and scientific terminology are with usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative
It is also intended to include plural form, additionally, it should be understood that, when in this manual using term "comprising" and/or " bag
Include " when, it indicates existing characteristics, step, operation, device, component and/or combinations thereof.
As illustrated in fig. 1 and 2, a kind of CAN message filtering analytic method, it is as follows applied to electronic control unit, including step：
Step (1)：Initial phase on electronic control unit ECU after electric or reset, by RAM_CODE_SEG generations
Program copy corresponding to code section in FLASH spaces into corresponding ram space, when MCU operation CAN messages receive, filtering and
During analytical function, program counter automatically points to the ram space where RAM_CODE_SEG, and described program is run in RAM；Institute
RAM_CODE_SEG code segments are stated, are arranged in threaded file, are the code segments of relocatable；In RAM_CODE_SEG code segments
Define CAN message reception, filtering and analytical function；After program is compiled, linking, during burning program, MCU is being defined on RAM_
FLASH spaces are arrived in routine data storage in CODE_SEG code segments；One section of FLASH is set in the code segment of the relocatable
Space and one section and FLASH bulk identical ram spaces, and FLASH spaces are reoriented to ram space.
Step (2)：It is determined that effective message ID and number, number that needs parse are designated as VALID_NUM, effective message is established
ID value array Valid_id [VALID_NUM]；According to ECU technical specification and CAN network matrix table, it is determined that needing what is parsed
Effective message ID and number；The order of the effective message ID values parsed on demand from small to large establishes effective message ID value numbers
Group Valid_id [VALID_NUM], minimum value is Valid_id [0], and maximum is Valid_id [VALID_NUM-1].
VALID_NUM and Valid_id [VALID_NUM] is constant, is drawn by technical specification and CAN network matrix table analysis.
Step (3)：CAN standard frame ID intervals are divided into 8 subintervals；CAN standard frames ID is 11, value model
Enclose for 0x00-0x7ff, according to the ID highests value of three, CAN standard frame ID intervals are divided into 8 subintervals；8
The ID spans in subinterval are respectively 0x00-0xff, 0x100-0x1ff, 0x200-0x2ff, 0x300-0x3ff, 0x400-
0x4ff, 0x500-0x5ff, 0x600-0x6ff and 0x700-0x7ff, corresponding subinterval label is respectively 0,1,2,3,4,5,6
With 7.
Step (4)：Determine that effective message ID is in Valid_id [VALID_ in each subinterval in the form of array index
NUM] in original position；Array Id_idx [9] is established, is corresponding to the minimum effectively message ID in i work songs section with Id_idx [i]
The subscript value of Valid_id [VALID_NUM] array element, especially, Id_idx [8]=VALID_NUM；
According to ECU technical specification and CAN network matrix table, determined in the form of array index in each subinterval effectively
Original positions of the message ID in Valid_id [VALID_NUM].
Assuming that the message ID values that this node needs to parse have 0x40,0x50 between 0 work song section 0x00-0xff,
0x60,0x70 ..., one is shared n, and ID values have a 0x140,0x150,0x160,0x170 ... between 0x100-0x1ff, and one
Shared m is individual, then Id_idx [0]=0, Id_idx [1]=n, Id_idx [2]=n+m ....Especially, Id_idx [8]=VALID_
NUM。
Step (5)：CAN message receive interrupt service routine in, first by the ID of the message received respectively with
Valid_id [0] compares with Valid_id [VALID_NUM-1], if the ID of the message received is more than Valid_id
[VALID_NUM-1] or less than Valid_id [0], reception interrupt service routine is directly exited, otherwise into step (6)；
Step (6)：The ID of the message received is moved to right 8, result is designated as idx；
Step (7)：Under using Id_idx [idx] and Id_idx [idx+1] -1 as array Valid_id [VALID_NUM]
Section is marked, the ID values in the ID of the message received and subscript section are compared one by one, if the message received
Any one ID value is all unequal in ID and the subscript section, then abandons the message received, directly exits and receives at interruption
Program is managed, otherwise into step (8)；
Step (8)：Message ID, place ID values subinterval label, message length, message data are stored in message and connect
Receive in buffering area, " receiving new message " message is sent to packet parsing task；
Step (9)：In packet parsing task, according to the label in ID values subinterval, by message ID and value
ID in section is compared, and extracts corresponding CAN signal, performs the operation of correlation.
The application illustrates to the present invention in conjunction with specific embodiments：
For certain automobile factory exploitation a PEPS, it is necessary to parsing effective message ID have 20, including 0x42,0x52,
0x70,0x73,0x74,0x75,0x1a2,0x270,0x271,0x340,0x380,0x390,0x4e0,0x521,0x570,
0x610,0x630,0x645,0x701,0x7df, it is according to this method, VALID__NUM=20, effective ID arrays of foundation
Uint16_t Valid_id [VALID__NUM]=0x42,0x52,0x70,0x73,0x74,0x75,0x1a2,0x270,
0x271,0x340,0x380,0x390,0x4e0,0x521,0x570,0x610,0x630,0x645,0x701,0x7df}；According to
It is as follows that the inventive method establishes form：
Table 1
Uint8_t Id_idx [9]={ 0,6,7,9,12,13,15,18,20 }；
Specifically, it is assumed that the message ID=0x521 received, if entered according to traversal comparison method to the message ID received
Row filtering is, it is necessary to carry out 14 comparison operations.According to this method step 6, the ID of the message received is moved to right 8, by result
It is designated as idx；
Idx=0x521>>8=5
Array Valid_id [VALID_NUM] subscript section, i.e. 13- are used as using Id_idx [5] and Id_idx [6] -1
14, compared with the value between 0x521 and Valid_id [13]-Valid_id [14], it is only necessary to which fortune is once compared in execution
Calculate, just can determine that the message received is effective message.
Assuming that the message ID=0x520 received, if be filtered according to traversal comparison method to the message ID received,
Need to carry out 20 comparison operations, according to method of the present invention it is only necessary to performing a shift right operation and comparison operation three times.
On average, the message ID received is filtered according to traversal comparison method, if effective message, average specific
It it is VALID__NUM/2 times compared with number, if invalid packet, number of comparisons is VALID__NUM times, is filtered according to the present invention
Ripple, number of comparisons can be significantly smaller than traversal comparison method.
The preferred embodiment of the application is the foregoing is only, is not limited to the application, for the skill of this area
For art personnel, the application can have various modifications and variations.It is all within spirit herein and principle, made any repair
Change, equivalent substitution, improvement etc., should be included within the protection domain of the application.
Claims (10)
1. a kind of CAN message filters analytic method, it is characterized in that, it is as follows applied to electronic control unit, including step：
Step (1)：Initial phase on electronic control unit ECU after electric or reset, by RAM_CODE_SEG code segments
Program copy in corresponding FLASH spaces is into corresponding ram space, when MCU operation CAN messages are received, filter and parsed
During function, program counter automatically points to the ram space where RAM_CODE_SEG, and described program is run in RAM；
Step (2)：It is determined that effective message ID and number, number that needs parse are designated as VALID_NUM, establish effective message ID and take
It is worth array Valid_id [VALID_NUM]；
Step (3)：CAN standard frame ID intervals are divided into 8 subintervals；
Step (4)：Determine that effective message ID is in Valid_id [VALID_NUM] in each subinterval in the form of array index
Original position；Array Id_idx [9] is established, is the minimum Valid_ effectively corresponding to message ID in i work songs section with Id_idx [i]
The subscript value of id [VALID_NUM] array element, Id_idx [8]=VALID_NUM；
Step (5)：In CAN message receives interrupt service routine, whether the ID for the message for judging to receive is in effective message ID
In the range of value array Valid_id [VALID_NUM], if it is not, then directly exiting reception interrupt service routine, otherwise enter
Enter step (6)；
Step (6)：The ID of the message received is moved to right 8, result is designated as idx；
Step (7)：Effective message ID value arrays Valid_id is used as using Id_idx [idx] and Id_idx [idx+1] -1
The subscript section of [VALID_NUM], the ID values in the ID of the message received and subscript section are compared one by one, if
Any one ID value is all unequal in the ID of the message received and the subscript section, then abandons the message received, directly
Reception interrupt handling routine is exited, otherwise into step (8)；
Step (8)：Message ID, place ID values subinterval label, message length, message data are stored in message and received and is delayed
Rush in area, " receiving new message " message is sent to packet parsing task；
Step (9)：In packet parsing task, according to the label in ID values subinterval, by message ID and the value subinterval
In ID be compared, extract corresponding CAN signal, perform correlation operation.
2. a kind of CAN message filtering analytic method as claimed in claim 1, it is characterized in that, the step (1) RAM_
CODE_SEG code segments, are arranged in threaded file, are the code segments of relocatable；Defined in RAM_CODE_SEG code segments
CAN message reception, filtering and analytical function；After program is compiled, linking, during burning program, MCU is being defined on RAM_CODE_
FLASH spaces are arrived in routine data storage in SEG code segments.
3. a kind of CAN message filtering analytic method as claimed in claim 2, it is characterized in that, the code segment of the relocatable
One section of FLASH space of middle setting and one section and FLASH bulk identical ram spaces, and FLASH spaces are reoriented to
Ram space.
4. a kind of CAN message filtering analytic method as claimed in claim 1, it is characterized in that, in the step (2), according to ECU
Technical specification and CAN network matrix table, it is determined that needing effective message ID for parsing and number；VALID_NUM and Valid_id
[VALID_NUM] is constant, is drawn by technical specification and CAN network matrix table analysis.
5. a kind of CAN message filtering analytic method as claimed in claim 1, it is characterized in that, solved on demand in the step (2)
The order of effective message ID values of analysis from small to large establishes effective message ID value arrays Valid_id [VALID_NUM], most
Small value is Valid_id [0], and maximum is Valid_id [VALID_NUM-1].
6. a kind of CAN message filtering analytic method as claimed in claim 1, it is characterized in that, in the step (2), the step
Suddenly in (3), CAN standard frames ID is 11, span 0x00-0x7ff, and CAN standard frame ID intervals are divided into 8
Subinterval；The ID spans in 8 subintervals are respectively 0x00-0xff, 0x100-0x1ff, 0x200-0x2ff, 0x300-
0x3ff, 0x400-0x4ff, 0x500-0x5ff, 0x600-0x6ff and 0x700-0x7ff, corresponding subinterval label is respectively 0,
1st, 2,3,4,5,6 and 7.
7. a kind of CAN message filtering analytic method as claimed in claim 1, it is characterized in that, in the step (4), according to ECU
Technical specification and CAN network matrix table, determine that effective message ID is in Valid_ in each subinterval in the form of array index
Original position in id [VALID_NUM].
8. a kind of CAN message filtering analytic method as claimed in claim 1, it is characterized in that, the method for the step (4) is such as
Under：
Assuming that the message ID values that this node needs to parse have 0x40,0x50,0x60 between 0 work song section 0x00-0xff,
0x70 ..., a shared n is individual, and ID values have 0x140,0x150,0x160,0x170 ..., a shared m between 0x100-0x1ff
It is individual, then Id_idx [0]=0, Id_idx [1]=n, Id_idx [2]=n+m ..., Id_idx [8]=VALID_NUM.
9. a kind of CAN message filters resolution system, it is characterized in that, including：Electronic control unit ECU, is stored thereon with computer
Instruction, the computer instruction operationally perform following steps：
Step (1)：Initial phase on electronic control unit ECU after electric or reset, by RAM_CODE_SEG code segments
Program copy in corresponding FLASH spaces is into corresponding ram space, when MCU operation CAN messages are received, filter and parsed
During function, program counter automatically points to the ram space where RAM_CODE_SEG, and described program is run in RAM；
Step (2)：It is determined that effective message ID and number, number that needs parse are designated as VALID_NUM, establish effective message ID and take
It is worth array Valid_id [VALID_NUM]；
Step (3)：CAN standard frame ID intervals are divided into 8 subintervals；
Step (4)：Determine that effective message ID is in Valid_id [VALID_NUM] in each subinterval in the form of array index
Original position；Array Id_idx [9] is established, is the minimum Valid_ effectively corresponding to message ID in i work songs section with Id_idx [i]
The subscript value of id [VALID_NUM] array element, Id_idx [8]=VALID_NUM；
Step (5)：In CAN message receives interrupt service routine, whether the ID for the message for judging to receive is in effective message ID
In the range of value array Valid_id [VALID_NUM], if it is not, then directly exiting reception interrupt service routine, otherwise enter
Enter step (6)；
Step (6)：The ID of the message received is moved to right 8, result is designated as idx；
Step (7)：Effective message ID value arrays Valid_id is used as using Id_idx [idx] and Id_idx [idx+1] -1
The subscript section of [VALID_NUM], the ID values in the ID of the message received and subscript section are compared one by one, if
Any one ID value is all unequal in the ID of the message received and the subscript section, then abandons the message received, directly
Reception interrupt handling routine is exited, otherwise into step (8)；
Step (8)：Message ID, place ID values subinterval label, message length, message data are stored in message and received and is delayed
Rush in area, " receiving new message " message is sent to packet parsing task；
Step (9)：In packet parsing task, according to the label in ID values subinterval, by message ID and the value subinterval
In ID be compared, extract corresponding CAN signal, perform correlation operation.
10. a kind of electronic control unit, it is characterized in that, including：CAN controller, computer is stored with the CAN controller and is referred to
Order, the computer instruction operationally perform following steps：
Step (1)：Initial phase on electronic control unit ECU after electric or reset, by RAM_CODE_SEG code segments
Program copy in corresponding FLASH spaces is into corresponding ram space, when MCU operation CAN messages are received, filter and parsed
During function, program counter automatically points to the ram space where RAM_CODE_SEG, and described program is run in RAM；
Step (2)：It is determined that effective message ID and number, number that needs parse are designated as VALID_NUM, establish effective message ID and take
It is worth array Valid_id [VALID_NUM]；
Step (3)：CAN standard frame ID intervals are divided into 8 subintervals；
Step (4)：Determine that effective message ID is in Valid_id [VALID_NUM] in each subinterval in the form of array index
Original position；Array Id_idx [9] is established, is the minimum Valid_ effectively corresponding to message ID in i work songs section with Id_idx [i]
The subscript value of id [VALID_NUM] array element, Id_idx [8]=VALID_NUM；
Step (5)：In CAN message receives interrupt service routine, whether the ID for the message for judging to receive is in effective message ID
In the range of value array Valid_id [VALID_NUM], if it is not, then directly exiting reception interrupt service routine, otherwise enter
Enter step (6)；
Step (6)：The ID of the message received is moved to right 8, result is designated as idx；
Step (7)：Effective message ID value arrays Valid_id is used as using Id_idx [idx] and Id_idx [idx+1] -1
The subscript section of [VALID_NUM], the ID values in the ID of the message received and subscript section are compared one by one, if
Any one ID value is all unequal in the ID of the message received and the subscript section, then abandons the message received, directly
Reception interrupt handling routine is exited, otherwise into step (8)；
Step (8)：Message ID, place ID values subinterval label, message length, message data are stored in message and received and is delayed
Rush in area, " receiving new message " message is sent to packet parsing task；
Step (9)：In packet parsing task, according to the label in ID values subinterval, by message ID and the value subinterval
In ID be compared, extract corresponding CAN signal, perform correlation operation.
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