CN107786402B - TTCAN control communication module and TTCAN control communication system of vehicle - Google Patents
TTCAN control communication module and TTCAN control communication system of vehicle Download PDFInfo
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- CN107786402B CN107786402B CN201610791937.4A CN201610791937A CN107786402B CN 107786402 B CN107786402 B CN 107786402B CN 201610791937 A CN201610791937 A CN 201610791937A CN 107786402 B CN107786402 B CN 107786402B
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- 238000004891 communication Methods 0.000 title claims abstract description 82
- 238000000034 method Methods 0.000 claims description 4
- 230000000737 periodic effect Effects 0.000 description 6
- 230000001960 triggered effect Effects 0.000 description 6
- 230000001419 dependent effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000001360 synchronised effect Effects 0.000 description 4
- 238000012360 testing method Methods 0.000 description 3
- 125000004122 cyclic group Chemical group 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 230000006855 networking Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40006—Architecture of a communication node
- H04L12/40013—Details regarding a bus controller
-
- 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
-
- 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
- H04L12/40143—Bus networks involving priority mechanisms
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
Abstract
A TTCAN control communication module, comprising: the CPU, interface module, time period control element; wherein: the CPU is respectively connected with the time period control element and the interface module; the time period control element is used for periodically sending the external clock signal to the CPU, the CPU takes the external clock signal as a time sequence trigger signal trigger event of the CPU time period schedule, and data exchange is carried out between the CPU and the CAN bus and the system equipment through the interface module.
Description
Technical Field
The invention belongs to the technical field of information communication, and particularly relates to a TTCAN control communication module triggered by external hardware time.
Background
The event trigger mode based protocol mainly includes CAN (Controller Area Network) bus and its protocol established by Bosch corporation, germany. All activity in the network is caused by the occurrence of events, but the occurrence of events is random, sporadic, and unpredictable when there will be an event trigger, which is likely to result in collisions between events in the network. The CAN bus is a communication bus based on an event triggering protocol.
With the increasing requirement of safety performance of vehicles, a new bus and a new protocol are proposed by taking a time triggering mode as a core, wherein three representative buses and protocols are respectively: time-Triggered CAN (TTCAN), TTP and FlexRay. The time-triggered mode based protocol is generated based on a time-triggered structure. All nodes are time-stamped for each activity on the network based on time synchronization. The tasks in the system are allocated with corresponding bus time according to the schedule established before working, so in the bus network adopting the time triggering mode for communication, the nodes complete the tasks according to the static scheduling schedule (also called as a matrix period) established in advance, the static scheduling schedule is downloaded into the controllers of all the nodes, and the branch system of the communication system only needs to know when to transmit a message and when a message on the bus is useful for themselves. One of the main advantages of time triggered architecture is the flexible combining capability, which enables to reduce the testing of new parts when integrating them into the system, which is a critical factor in designing a security critical system. Compared with the traditional CAN protocol, the TTCAN has the characteristics of high instantaneity, good reliability, large data volume, bus congestion avoidance, great improvement of network utilization rate and the like.
At present, the general timing mode adopted by TTCAN bus communication is that after receiving a main node timing message, a node CPU sets a special timer clock to generate timing interruption time, and the data communication task is completed according to a preset matrix periodic table. However, the communication mode is excessively dependent on the master node, so that synchronization failure is easy to generate, the clock frequency of each system device CPU has errors, global and overall unification cannot be achieved, the synchronization error is overlarge due to time drift, and meanwhile, the burden of processing data interruption by each node CPU of the network is increased.
Disclosure of Invention
Aiming at the problems in the prior art, the invention aims to solve the technical problems that: how to solve the problem that the TTCAN bus is excessively dependent on the master node to easily generate synchronization failure, and the time drift causes overlarge synchronization error.
In order to solve the problem that the TTCAN bus is excessively dependent on a master node to easily generate synchronization failure and the synchronization error is overlarge due to time drift, the invention provides a time period control element, which comprises the following components:
comprising the following steps: a counter, and a state machine containing programmable n pieces of state information; the state machine sequentially changes the state information codes along with each counting of the counter, and sequentially outputs the state information codes to the CPU through an output terminal (SB 0).
Further, the state machine further comprises a phase machine comprising 4 phase information codes, and the phase information codes are sequentially output to the CPU through another output terminal (SB 1).
Further, the state information codes constitute an external clock signal having programmable n periods.
Further, the state information code and the phase information code constitute an external clock signal having n×4 periods
The invention also provides a TTCAN control communication module, which is characterized by comprising: the CPU, interface module, control the component according to the above-mentioned time cycle; wherein: the CPU is respectively connected with the time period control element and the interface module; the time period control element is used for periodically sending the external clock signal to the CPU, the CPU takes the external clock signal as a time sequence trigger signal trigger event of the CPU time period schedule, and data exchange is carried out between the CPU and the CAN bus and the system equipment through the interface module.
The invention also provides a TTCAN control communication system of the vehicle, which comprises a CAN network, a plurality of system devices and a plurality of TTCAN control communication modules corresponding to the system devices one by one; the TTCAN control communication modules all adopt the same time period control element and provide external clock signals with the same period; the system equipment is connected with a CAN network through a TTCAN control communication module to form a TTCAN communication network.
The invention also provides a method for controlling the global time period and the local time period of the network of the TTCAN control communication system of the vehicle, which is characterized by comprising the following steps:
(1) The time period control elements of all control communication modules send external clock signals with the same period to the CPU in the module;
(2) In a specific time period, one of the plurality of control communication modules automatically transmits a reset signal to the CAN network, so as to initialize the time period control elements of all the control communication modules, and unify all external clock signals transmitted to the CPU;
(3) Under the condition that one of a plurality of system devices is initialized or new system devices are added, a TTCAN control communication module corresponding to the system device sends a reset signal to a CAN network, so that the time period control elements of all the control communication modules are reset to unify all external clock signals sent to a CPU;
repeating steps (1) to (3).
The module adopts an external time period control element to send periodic beat signals to the TTCAN network control network global time period and local time period, so that time drift generated by TTCAN network nodes is basically eliminated, and the time synchronization is completely controlled by an external hardware element, so that the network time synchronization is not influenced by the running state of the master node.
Drawings
FIG. 1 is a block diagram of a TTCAN control communication module according to the present invention;
FIG. 2 is a time division state diagram of a TTCAN control communication module according to the present invention;
fig. 3 is a network topology diagram of a TTCAN control communication module according to the present invention.
Detailed Description
Referring to fig. 1, a module connection diagram of a TTCAN control communication module according to the present invention is shown. It comprises the following steps: the CPU, interface module, time period control component. The CPU is respectively connected with the time period control element and the interface module; the CPU exchanges data with the CAN bus and the system equipment through the interface module.
The configuration of the interface module is as follows:
1) Module CAN port: the dual-channel CAN controller is formed by connecting two external isolated CAN drivers with two CAN controllers arranged in a module CPU, and CAN provide wider data bandwidth when the two CAN controllers are used independently, and CAN also be used in combination to be mutually backed up.
2) SPI communication port: two paths of SPI communication ports are arranged in the module CPU, and messages CAN be exchanged with the upper system CPU through the SPI communication ports and then sent to the CAN port. The two paths of SPIs can be used independently or in a combined use and mutual backup mode.
3) RS232 communication port: two paths of RS232 communication ports (LVTTL levels) are arranged in the module CPU, and messages CAN be exchanged with the upper system CPU through the RS232 communication ports and then sent to the CAN port. The two paths of RS232 can be used independently or in combination with an SPI port.
4) I/O input/output line: can be used for handshake with a CPU of an upper system.
The TTCAN control communication module adopts a specific external time period control element to send a periodic beat signal to the CPU, so as to control the global time period and the local time period of the network.
As a preferred embodiment, the periodic timing trigger signal of the external time period control element is composed of 16 strip-like period output lines and 2 intra-period phase output lines, and can be composed of 16×4=64 local time periods at maximum.
The external time period control element is mainly composed of a counter and a state machine.
As an illustrative embodiment, the present invention employs a modular down counter: the down counter consists of a 24 bit D flip-flop that is preset with a frequency division constant n when the module is reset. In operation, the down counter is decremented by one every time a pulse is input, and a state trigger signal is output when the counter is decremented to 0, and once triggered, the module state machine enters the next state.
The state machine adopts a 16-bit finite state machine, and 16-state output lines are adopted:
state table:
the 16-bit state is output by the SB0 pin.
As a preferred embodiment, the external time period control element further comprises two phase output lines constituting 4 phase information.
The upper 16 states, each state period is equally divided into 4 phases etc:
the 4-bit state is output by pin SB 1. Thus, 16×4=64 local time periods are constituted to be output to the CPU (see fig. 2).
Output line TINT: each state transition sends a positive pulse with a width of a few microseconds, which can be used as a time scale for testing global synchronization, and also can be used as an interrupt request signal or a latch signal for a CPU.
The TTCAN control communication module adopts an external time period control element to send periodic beat signals to a CPU control network global time period and local time period. The periodic time sequence trigger signal is composed of 16 state period output lines and 2 intra-period phase output lines, and can maximally compose 16 x 4 = 64 local time periods, when a network totally adopts the TTCAN control communication module, because each module has a clock with unified parameters, each module is designed into the same global time period and local time period which are totally controlled by hardware, and therefore time drift generated among the modules can be ignored. In addition, the global time and sub-cycle time of the bus network are completely controlled by external hardware elements, so that network time synchronization is not affected by the operational state of the master node.
The operation of the external time period control element will now be described:
and after the system is powered on, the inside of the module is reset, and an input line RST#, a synchronous input line ST#, of the time period control element are respectively connected to the power-on detection reset and the synchronous input end of the module. The state machine enters state 0 and initializes the clock divider when one of the two pins is low. When reset or synchronized, state machine output 0000 0000 0000 0001 is simultaneously phase output 00 and output TINT is 0. When the RST# and ST# lines are simultaneously high, the module begins to operate. The state output line, the phase line and the TINT line in the module periodically output pulse signals.
And after receiving the local time period signal, the CPU identifies the signal, arranges the data frames to the local time period according to the time sequence in the cyclic schedule, and transmits the data frames in sequence, thus realizing TTCAN network scheduling.
When the multi-module networking works, the reset circuit is generally triggered by a watchdog in the circuit, the relative time difference of TINT line output pulses of each chip represents the time delay condition of each RST# input end, and after the ST# line inputs a negative pulse, the relative time difference of TINT line output pulses in each module basically disappears, so that the aim of multi-module networking synchronization is fulfilled.
Referring to fig. 3, a TTCAN control communication system for a vehicle includes a CAN network, a plurality of system devices and a plurality of TTCAN control communication modules corresponding to the system devices one by one; all TTCAN control communication modules adopt the same time period control elements and provide external clock signals with the same period; the system equipment is connected with a CAN network through a TTCAN control communication module to form a TTCAN communication network.
In a normal working state, the TTCAN control communication module automatically sends a reset signal to the CAN network by one of the control communication modules in a specific time period, so that the time period control elements of all the control communication modules are initialized to unify all external clock signals sent to the CPU. The above-mentioned reset signal may be automatically assigned to a certain module for a certain period of time by means of a cyclic schedule.
Meanwhile, the CPU monitors and identifies a specific ID message frame transmitted on the network according to a specific time sequence trigger signal, when the message frame is found to have abnormal time beat, when the equipment is powered on and reset, the network is put into one equipment at any time during operation, the network needs to be resynchronized, and at the moment, the network can achieve global synchronization only by giving a negative pulse to the ST# line of the time period control element. The negative pulse may be applied by a different distributed module (via software) automatically by a certain module, or directly from the bus (hardware) depending on the operational status (active or inactive) of the module.
When a watchdog is reset during operation of a certain device, the CPU is restarted, and at the moment, the CPU is restarted and does not cause external bus time to trigger the synchronous element to reset, so that the CPU does not need to re-identify an external time sequence triggering period after re-working.
The system is in a modularized structure, is easy to realize from the top end when a network is formed, and the module is only responsible for managing communication and is irrelevant to the use function of equipment parts.
When the TTCAN control communication module is adopted on the network of the TTCAN control communication system, each module is provided with a clock with uniform parameters, and the modules are designed uniformly and are controlled by hardware completely in the same global time period and local time period, so that the time drift generated among the modules can be ignored. The time scale output line of the module is used as a state latch signal or an interrupt trigger signal to be sent to the communication CPU to represent the start of a local time period, or the time delay between the modules can be tested by using the module as a test time scale signal, and the time delay reflects the global synchronization performance of the modules in network communication. The hardware method time delay is less than 2 clock pulses, while the module time delay generated by the communication CPU (software) from the bus signaling method should be less than one CAN bit time.
The constructed TTCAN network solves the problems that the bus is excessively dependent on the master node, synchronization failure is easy to occur, and the synchronization error is overlarge due to time drift.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (10)
1. A TTCAN control communication system of a vehicle comprises a CAN network, a plurality of system devices and a plurality of TTCAN control communication modules corresponding to the system devices one by one;
the TTCAN control communication module comprises: the CPU, interface module, time period control element;
the time period control element includes: a counter, and a state machine containing programmable n pieces of state information; the CPU is respectively connected with the time period control element and the interface module; the state machine sequentially changes the state information codes along with each counting of the counter, and periodically sequentially outputs the state information codes to the CPU through an output end (SB 0) as an external clock signal; the CPU takes the external clock signal as a time sequence trigger signal trigger event of a CPU time period schedule, and exchanges data with the CAN bus and system equipment through an interface module;
the TTCAN control communication modules all adopt the same time period control element and provide external clock signals with the same period; the system equipment is connected with a CAN network through a TTCAN control communication module to form a TTCAN communication network.
2. The TTCAN control communication system of a vehicle of claim 1, wherein said state machine further comprises a phase machine including 4 phase information codes, and said phase information codes are sequentially output to the CPU through another output terminal (SB 1).
3. The TTCAN control communication system of claim 1, wherein the status information code constitutes an external clock signal having n periods that are programmable.
4. The TTCAN control communication system of claim 2, wherein the state information code and the phase information code constitute an external clock signal having n x 4 periods.
5. The TTCAN control communication system of claim 1, wherein the interface module includes at least one CAN port, more than 2I/O ports, and at least one SPI communication port and/or at least one RS232 communication port.
6. The TTCAN control communication system of claim 1, wherein the TTCAN control communication module exchanges data with system equipment via at least one SPI communication port and/or at least one RS232 communication port.
7. The TTCAN control communication system of claim 1, wherein the time period control elements of all the TTCAN control communication modules receive a unified reset signal for a specific period of time, thereby initializing the time period control elements of all the TTCAN control communication modules so as to unify all external clock signals transmitted to the CPU.
8. The TTCAN control communication system of claim 7, wherein the reset signal is automatically transmitted by one of the TTCAN control communication modules at a specific time period.
9. The TTCAN control communication system of a vehicle according to claim 1, wherein in case that an initialization occurs in one of a plurality of the system devices or a new system device is added, the TTCAN control communication module corresponding to the system device transmits a reset signal to the CAN network, thereby initializing the time period control elements of all TTCAN control communication modules so as to unify all external clock signals transmitted to the CPU.
10. A method of controlling a network global time period and local time period based on a TTCAN control communication system of a vehicle according to any one of claims 1 to 9, comprising the steps of:
(1) The time period control elements of all control communication modules send external clock signals with the same period to the CPU in the module;
(2) In a specific time period, one of the plurality of control communication modules automatically transmits a reset signal to the CAN network, so as to initialize the time period control elements of all the control communication modules, and unify all external clock signals transmitted to the CPU;
(3) Under the condition that one of a plurality of system devices is initialized or new system devices are added, a TTCAN control communication module corresponding to the system device sends a reset signal to a CAN network, so that the time period control elements of all the control communication modules are reset to unify all external clock signals sent to a CPU;
repeating steps (1) to (3).
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Address after: Room 103, 1 / F, building 11, No.7 yard 1, Liangshuihe 1st Street, Daxing District, Beijing, 100176 Applicant after: Beijing Yulian Technology Co.,Ltd. Address before: 100107 Beijing city Chaoyang District Road No. 9 Fu Dragon King International A block 1802 Applicant before: BEIJING JINYAFENG SCIENTIFIC TRADE Co.,Ltd. |
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| GR01 | Patent grant | ||
| GR01 | Patent grant |