CN108306785A - CAN message cycle detecting system and method - Google Patents
CAN message cycle detecting system and method Download PDFInfo
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- CN108306785A CN108306785A CN201711460935.8A CN201711460935A CN108306785A CN 108306785 A CN108306785 A CN 108306785A CN 201711460935 A CN201711460935 A CN 201711460935A CN 108306785 A CN108306785 A CN 108306785A
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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
- H04L12/40052—High-speed IEEE 1394 serial bus
- H04L12/40078—Bus configuration
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L43/00—Arrangements for monitoring or testing data switching networks
- H04L43/10—Active monitoring, e.g. heartbeat, ping or trace-route
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L43/00—Arrangements for monitoring or testing data switching networks
- H04L43/50—Testing arrangements
-
- 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
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Health & Medical Sciences (AREA)
- Cardiology (AREA)
- General Health & Medical Sciences (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
Abstract
The present invention provides a kind of CAN message periodicity detection methods, includes the following steps：The CAN message information for including CAN message ID and CAN message essential information that multiple nodes are sent is received, and will be stored in memory after the CAN message information configuration timestamp received；Corresponding CAN message information is read from memory in real time；The time interval of CAN message ID identical current CAN message information and previous CAN message information is calculated, and exports the CAN message period of corresponding CAN message ID after averaging to calculated multiple time intervals.CAN message periodicity detection methods accuracy rate and efficiency provided by the invention are higher.The present invention also provides a kind of CAN message cycle detecting systems.
Description
【Technical field】
The present invention relates to controller local area network (Controller Area Network, CAN) technical fields, especially relate to
And a kind of CAN message cycle detecting system and method.
【Background technology】
CAN (Controller Area Network, controller local area network) bus be widely used in Industry Control and
Automobile bus communicates, and different communications protocol is also devised to carry out data interaction between each CAN communication node of different field.
Periodic CAN message is generally applied to the important informations such as heartbeat signal or real-time system information between CAN nodes more
Newly, therefore, there is stringent restriction to the sending cycle of CAN message, and be also the emphasis in test event.Currently, to CAN message
The detection method in period is usually artificial detection, for example, being read out simultaneously shape to the message in CAN bus by adapter first
It is saved in local at listing file, then judges the communication interval of a message, i.e. communication cycle by timestamp again.So
And artificial detection may miss intermediate data frame, cause admission control, be easy to cause careless mistake, so that the CAN of detection
The accuracy rate in message period is relatively low.
In consideration of it, it is really necessary to provide a kind of new CAN message cycle detecting system and method to overcome drawbacks described above.
【Invention content】
The higher CAN message cycle detecting system of higher and accuracy and side the object of the present invention is to provide a kind of efficiency
Method.
To achieve the goals above, the present invention provides a kind of CAN message cycle detecting system, including host computer, adapter
And multiple nodes；One end of the adapter is connected with the multiple node and the other end is connected with the host computer；It is described
Host computer includes main control module and the memory that is connected with the main control module；The main control module includes dispensing unit, reads
Take unit and computing unit；What the dispensing unit was used to receive the multiple node transmission includes CAN message ID and CAN report
The CAN message information of literary essential information, and the memory will be stored in after the CAN message information configuration timestamp received
In；The reading unit from the memory for reading corresponding CAN message information in real time；The computing unit is based on
The time interval of CAN message ID identical current CAN message information and previous CAN message information is calculated, and to calculated multiple
Time interval exports the CAN message period of corresponding CAN message ID after averaging.
To achieve the goals above, the present invention provides a kind of CAN message periodicity detection methods, be applied to include host computer,
In the CAN message cycle detecting system of adapter and multiple nodes, one end of the adapter is connected with the multiple node
And the other end is connected with the host computer；The host computer includes memory；It is characterized in that, the CAN message cycle detection
Method includes the following steps：
Receive multiple nodes transmissions includes the CAN message information of CAN message ID and CAN message essential information, and will connect
It is stored in the memory after the CAN message information configuration timestamp received；
Corresponding CAN message information is read from the memory in real time；
The time interval of CAN message ID identical current CAN message information and previous CAN message information is calculated, and to meter
The multiple time intervals calculated export the CAN message period of corresponding CAN message ID after averaging.
Compared with the prior art, CAN message cycle detecting system provided by the invention and method, by accessing host computer
CAN network to analyze the CAN message period that multiple nodes are sent out, and then avoid the non real-time nature artificially analyzed and accidentally grasp in real time
The property made also improves efficiency while improving the accuracy rate of CAN message cycle detection.
【Description of the drawings】
Fig. 1 is the configuration diagram for the CAN message cycle detecting system that present pre-ferred embodiments provide.
Fig. 2 is the functional block diagram of host computer in Fig. 1.
Fig. 3 is the flow chart for the CAN message periodicity detection methods that the good embodiment of the present invention provides.
【Specific implementation mode】
It is clear in order to make the purpose of the present invention, technical solution and advantageous effects be more clear, below in conjunction with this hair
Attached drawing in bright embodiment, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described
Embodiment is only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field
The every other embodiment that those of ordinary skill is obtained without making creative work, belongs to protection of the present invention
Range.
When an element was considered with another element " being connected ", it can be directly to another element or
It may be simultaneously present centering elements.Unless otherwise defined, all of technologies and scientific terms used here by the article and belong to this hair
The normally understood meaning of bright those skilled in the art is identical.Term used in the description of the invention herein
It is only for the purpose of describing specific embodiments and is not intended to limit the present invention.
Referring to Fig. 1, its CAN (Controller Area Network, control for providing for present pre-ferred embodiments
Device local area network) message cycle detecting system 100 configuration diagram.The CAN message cycle detecting system 100 for pair
The CAN message period is detected.Specifically, the CAN message cycle detecting system 100 include host computer 10, adapter 20 with
And multiple nodes 30.One end of the adapter 20 is connected with the multiple node 30 and the other end and 10 phase of the host computer
Even.In the present embodiment, the adapter 20 is communicated by CAN bus and the multiple node 30 and passes through USB
(Universal Serial Bus, universal serial bus) is communicated with the host computer 10.It is appreciated that the multiple section
Point corresponds to different devices respectively, for example, when CAN bus is applied on electric vehicle, one of node can correspond to vehicle
Controller, another node can correspond to the insulation monitoring module in battery management system, and other nodes can then correspond to cell tube
Detection module in reason system, wherein each detection module is used to detect the electric current, voltage and temperature of battery.Further, institute
It is the data information that multiple nodes 30 are sent out to state CAN message.
Furthermore, it is necessary to explanation be due to cannot directly be communicated between multiple nodes 30 and the host computer 10, because
This, needs adapter 20 to transfer.Wherein, adapter 20 can be USB-CAN cards.It is appreciated that the USB-CAN cards are
One end can carry out CAN communication and the other end can carry out the element of USB communications.
Further, the host computer 10 is personal computer (PC, Personal Computer).The host computer 10
It is connected with the adapter 20 by USB interface.It is appreciated that in other embodiments, the host computer 10 can also lead to
Other serial ports are crossed, for example, RS232 serial ports or RS485 serial ports are connected with the adapter 20 to be communicated.
It is the functional block diagram of the host computer 10 referring again to Fig. 2.The host computer 10 include main control module 11 with
And the memory 12 being connected with the main control module 11.Wherein, the main control module 11 is used to receive the transmission of multiple nodes 30
CAN message information, and by the CAN message information storage in the memory 12, the main control module 11 can also pass through
It accesses to the memory 12 corresponding to be read out and calculate by the CAN message information in the memory 12
The CAN message period.Wherein, the memory 12 can be electricallyerasable ROM (EEROM) (Electric Erasable
Programmable Read-Only Memory, EEPROM) or FLASH flash memories etc..The main control module 11 can be by interior
Portion's communication bus, for example, SPI (Serial Peripheral Interface, Serial Peripheral Interface (SPI)) or I2C buses are by institute
CAN message information is stated the memory 12 is written and is read out access to the memory 12.In the present embodiment, institute
It is MCU (Microcontroller Unit, micro-control unit) to state main control module 11.
Further, the main control module 11 includes dispensing unit 111, reading unit 112, judging unit 113 and meter
Calculate unit 114.It should be noted that the memory 12 is external memory, it will be understood that the main control module 11 further includes
Internal storage (not shown) and processor (not shown), above-mentioned each functional unit can be stored in master in form of software programs
In the internal storage for controlling module 11, and executed by processor.In alternate embodiment, above-mentioned each functional unit is alternatively with spy
The hardware of function is determined, for example, burning has the chip of particular software application.
Above-mentioned each functional unit is described in detail with reference to Fig. 3.
As shown in figure 3, the flow chart of its CAN message periodicity detection methods provided for present pre-ferred embodiments.It is answered
Illustrate, method of the invention is not limited to the sequence of following step, and in other embodiment, and method of the invention can be with
The a portion or part steps therein for only including step as described below can be deleted.
Step S01, the dispensing unit 111 are used to receive the CAN message information of the transmission of the multiple node 30, and will connect
It is stored in the memory 12 after the CAN message information configuration timestamp received.Wherein, the CAN message information includes CAN
Message ID (Identity, identity number) and CAN message essential information.Specifically, the CAN message essential information includes
Frame format, frame type, data length and data etc..
In the present embodiment, the dispensing unit 111 deposits the CAN message information received according to figure (map) structure
It is stored in the memory 12.Wherein, figure (Map) is a kind of data structure that the form according to key-value pair is stored.Into one
Step ground, CAN message ID correspond to the key of map structures, and CAN message essential information corresponds to the value of map structures.It is appreciated that by
In key in graph structure have uniqueness, therefore, no matter CAN message information content number, can be according to CAN message ID
It is stored respectively, and then improves the accuracy of CAN message cycle detection.
It is appreciated that timestamp is time identifier, i.e., the dispensing unit 111 matches the CAN message information received
Stored after setting current time, due to the time be in real-time change, the timestamp of each message information is different.
Step S02, the reading unit 112 from the memory 12 for reading corresponding CAN message information in real time.
Step S03, the judging unit 113 are used to judge whether the timestamp in the CAN message information read to be empty；If
Timestamp in the CAN message information of reading is not sky, then sends out computations and enter step S04；If the CAN message read
Timestamp in information is sky, then enters step S05.
It is appreciated that after CAN message information storage is in memory 12, if system initialization or other failures, will lead
The timestamp of CAN message information is caused to reset, as empty, therefore, it is necessary to reconfigure the time to the CAN message information currently read
Stamp calculates time interval with subsequent CAN message information to facilitate, improves the accuracy of CAN message cycle detection.Certainly, exist
In other embodiment, which can also omit.
Step S04, the computing unit 114 for calculate the identical current CAN message information of CAN message ID with it is previous
The time interval of CAN message information, and the CAN of corresponding CAN message ID is exported after averaging to calculated multiple time intervals
The message period.
It is appreciated that identical CAN message ID is expressed as same class message, therefore, with current CAN message information when
Between stamp subtract the timestamp of previous CAN message information, you can obtain the time interval of adjacent CAN message information successively, will
Multiple time intervals, which average, can obtain the CAN message period of same CAN message ID.Further, it is averaging
In the process in order to improve accuracy, can by multiple time intervals minimum value and maximum value remove after average again.
Step S05, the configuration module 111 are additionally operable to current time being allocated to current CAN as new timestamp
Message information.
CAN message cycle detecting system 100 provided by the present invention and method, by the way that by host computer 10, (computer end is debugged
Software) access CAN network with analyze the CAN message period that multiple nodes 30 are sent out in real time, and then avoid artificially analyze it is non-
Real-time and maloperation also improve efficiency while improving the accuracy rate of CAN message cycle detection.
The present invention is not only in the description and the implementation described, therefore for the personnel of familiar field
Other advantage and modification is easily implemented, therefore in the essence without departing substantially from universal defined by claim and equivalency range
In the case of refreshing and range, the present invention is not limited to specific details, representative equipment and diagrams shown and described herein
Example.
Claims (10)
1. a kind of CAN message cycle detecting system, it is characterised in that：Including host computer, adapter and multiple nodes；Described turn
The one end for connecing device is connected with the multiple node and the other end is connected with the host computer；The host computer include main control module with
And the memory being connected with the main control module；The main control module includes dispensing unit, reading unit and computing unit；Institute
State the CAN message letter including CAN message ID and CAN message essential information that dispensing unit is sent for receiving the multiple node
Breath, and will be stored in the memory after the CAN message information configuration timestamp received；The reading unit is for real-time
Corresponding CAN message information is read from the memory；The computing unit is identical current for calculating CAN message ID
The time interval of CAN message information and previous CAN message information, and output pair after averaging to calculated multiple time intervals
Answer the CAN message period of CAN message ID.
2. CAN message cycle detecting system as described in claim 1, it is characterised in that：The dispensing unit is according to map structures
By the CAN message information storage received in the memory；The CAN message ID corresponds to the key of the map structures, institute
State the value that CAN message essential information corresponds to the map structures.
3. CAN message cycle detecting system as described in claim 1, it is characterised in that：The main control module further includes judging
Module, the judgment module are used to judge whether the timestamp in the CAN message information read to be empty；If the CAN message read
Timestamp in information is not sky, then sends out computations and calculated with controlling the computing unit.
4. CAN message cycle detecting system as claimed in claim 3, it is characterised in that：If in the CAN message information read
Timestamp is sky, then the configuration module is additionally operable to current time being allocated to current CAN message letter as new timestamp
Breath.
5. CAN message cycle detecting system as described in claim 1, it is characterised in that：The adapter by CAN bus with
The multiple node communicate and communicated by USB and the host computer.
6. a kind of CAN message periodicity detection methods, applied to the CAN message week for including host computer, adapter and multiple nodes
In phase detecting system, one end of the adapter is connected with the multiple node and the other end is connected with the host computer；It is described
Host computer includes memory；It is characterized in that, the CAN message periodicity detection methods include the following steps：
Receive multiple nodes transmissions includes the CAN message information of CAN message ID and CAN message essential information, and will receive
CAN message information configuration timestamp after be stored in the memory；
Corresponding CAN message information is read from the memory in real time；
The time interval of CAN message ID identical current CAN message information and previous CAN message information is calculated, and to calculating
Multiple time intervals average after export CAN message period of corresponding CAN message ID.
7. CAN message periodicity detection methods as claimed in claim 6, it is characterised in that：It " receives multiple nodes to send described
The CAN message information for including CAN message ID and CAN message essential information, and CAN message information configuration time that will be received
Be stored in after stamp in the memory " step in, the CAN message information storage received is deposited in described according to map structures
In reservoir；The CAN message ID corresponds to the key of the map structures, and the CAN message essential information corresponds to the map structures
value。
8. CAN message periodicity detection methods as claimed in claim 6, it is characterised in that：The CAN message periodicity detection methods
" time interval of CAN message ID identical current CAN message information and previous CAN message information is calculated, and to calculating described
Further include walking as follows before the step in the CAN message period of the corresponding CAN message ID of output after the multiple time intervals gone out are averaged "
Suddenly：
Judge whether the timestamp in the CAN message information read is empty；
If the timestamp in the CAN message information read is not sky, computations are sent out.
9. CAN message periodicity detection methods as claimed in claim 8, it is characterised in that：The CAN message periodicity detection methods
Further include following steps：
If the timestamp in the CAN message information read is sky, it is allocated to using current time as new timestamp current
CAN message information.
10. CAN message periodicity detection methods as claimed in claim 6, it is characterised in that：The CAN message essential information packet
Include frame format, frame type, data length and data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711460935.8A CN108306785A (en) | 2017-12-28 | 2017-12-28 | CAN message cycle detecting system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711460935.8A CN108306785A (en) | 2017-12-28 | 2017-12-28 | CAN message cycle detecting system and method |
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| Publication Number | Publication Date |
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| CN108306785A true CN108306785A (en) | 2018-07-20 |
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| CN201711460935.8A Pending CN108306785A (en) | 2017-12-28 | 2017-12-28 | CAN message cycle detecting system and method |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109286547A (en) * | 2018-08-30 | 2019-01-29 | 百度在线网络技术（北京）有限公司 | Message processing method, device, electronic control unit and readable storage medium storing program for executing |
| CN109634258A (en) * | 2018-11-30 | 2019-04-16 | 北京新能源汽车股份有限公司 | Bus message checking method, device and system for hardware-in-loop test |
| CN111464415A (en) * | 2020-04-02 | 2020-07-28 | 昆易电子科技(上海)有限公司 | Method for early warning of CAN bus message abnormity and electronic equipment |
| CN112255556A (en) * | 2020-04-30 | 2021-01-22 | 蜂巢能源科技有限公司 | Battery pack offline detection method and system |
| CN112398672A (en) * | 2019-08-16 | 2021-02-23 | 北京新能源汽车股份有限公司 | Message detection method and device |
-
2017
- 2017-12-28 CN CN201711460935.8A patent/CN108306785A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109286547A (en) * | 2018-08-30 | 2019-01-29 | 百度在线网络技术（北京）有限公司 | Message processing method, device, electronic control unit and readable storage medium storing program for executing |
| US11362857B2 (en) | 2018-08-30 | 2022-06-14 | Apollo Intelligent Driving Technology (Beijing) Co., Ltd. | Message processing method, apparatus, electronic control unit and readable storage medium |
| CN109634258A (en) * | 2018-11-30 | 2019-04-16 | 北京新能源汽车股份有限公司 | Bus message checking method, device and system for hardware-in-loop test |
| CN112398672A (en) * | 2019-08-16 | 2021-02-23 | 北京新能源汽车股份有限公司 | Message detection method and device |
| CN111464415A (en) * | 2020-04-02 | 2020-07-28 | 昆易电子科技(上海)有限公司 | Method for early warning of CAN bus message abnormity and electronic equipment |
| CN112255556A (en) * | 2020-04-30 | 2021-01-22 | 蜂巢能源科技有限公司 | Battery pack offline detection method and system |
| CN112255556B (en) * | 2020-04-30 | 2023-06-02 | 蜂巢能源科技有限公司 | Battery pack off-line detection method and system |
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Application publication date: 20180720 |
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