CN108737187A - A kind of CAN bus fault simulation system and failure simulation method - Google Patents
A kind of CAN bus fault simulation system and failure simulation method Download PDFInfo
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- CN108737187A CN108737187A CN201810505715.0A CN201810505715A CN108737187A CN 108737187 A CN108737187 A CN 108737187A CN 201810505715 A CN201810505715 A CN 201810505715A CN 108737187 A CN108737187 A CN 108737187A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
- H04L41/14—Network analysis or design
- H04L41/145—Network analysis or design involving simulating, designing, planning or modelling of a network
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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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
- H04L41/06—Management of faults, events, alarms or notifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
- H04L41/14—Network analysis or design
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- 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
- H04L43/08—Monitoring or testing based on specific metrics, e.g. QoS, energy consumption or environmental parameters
- H04L43/0805—Monitoring or testing based on specific metrics, e.g. QoS, energy consumption or environmental parameters by checking availability
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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
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
Abstract
A kind of CAN bus fault simulation system and failure simulation method, the present invention relates to CAN bus fault simulation system and failure simulation methods.The present invention is in order to solve the problems, such as that the operating process of prior art direct fault location is complicated, can only carry out physical layer direct fault location and cannot directly return to direct fault location result.The present invention includes：Signal dispatcher module, direct fault location module and software model；Described information transceiver module from the data frame of the target machine at both ends for that will carry out the conversion of digital signal and analog signal；The data that the direct fault location module is used to be sent according to software model, link layer or physical layer to CAN bus carry out direct fault location；The software model sends direct fault location parameter to direct fault location module for providing human-computer interaction interface；The direct fault location parameter includes direct fault location mode, the time type of failure, injection phase.The present invention evaluates field for computer reliability.
Description
Technical field
The present invention relates to CAN bus fault simulation system and failure simulation methods.
Background technology
Fault simulation and injection mode are a kind of compensation process of system reliability estimation method, until phase at the end of the 20th century
Really become a kind of important means of assessment system reliability.Since foreign countries are more early to direct fault location research starting, pair event
The design method of barrier injection technique tool all leads over the country.
Assessment for System Fault Tolerance performance, since the demand of different system is different, we are predicted using different methods
The frequency of system fault and the ability of recovery, are generally divided into three classes：Method (analytical model algorithm) based on simulation, based on test
Analysis method (statistical analysis method) and the fault injection methods based on prototype system.Compared with first two mode, fault simulation is more
Add it is easy to implement, people often use direct fault location means evaluating system reliability, most common means include physical fault note
Enter and is injected with simulated failure.Since the position of direct fault location is different, physical fault injection can be subdivided into hardware fault injection and soft
Part direct fault location.
Foreign countries early tend to maturation with regard to the research and development of Fault Insertion Equipment, and in 2003, Zarandi H R et al. were just proposed
A kind of fault simulation tool of the reliability analysis model for a variety of digital display circuits of support being known as SINJECT, the tool provide
The temporary and permanent fault of Verilog and VHDL digital circuit models is simulated.
Research for CAN bus, Gessner D et al. once with regard to the physical layer failure simulation method of space flight CAN bus into
Preliminary realization is gone, star-like centered on a direct fault location integrated equipment of the fault simulation equipment is opened up total instead of CAN
Line topology, fault simulation execute in the CAN controller of node and software, so that CAN bus scene can be more
It is transparent.
Research for the protocol layer inside CAN bus, Corno F et al. give between two abstract protocol layers be as
So that ensureing that data transmission is correct, this technology is successfully used to influence CAN bus dynamic network for what interaction
Fault identification on.
The country is also gradually risen by the research of direct fault location.University of the Inner Mongol proposes a kind of non-switching formula CAN bus redundancy
Communication system, describes the dual redundant structure of system, and discusses concrete implementation method, and based on J1939, improves system
The method of the basic principle and redundancy processing of system Protocol Design.
BJ University of Aeronautics & Astronautics is studied and is designed with regard to dual-redundancy CAN bus test platform, based on several nodes
Test environment develops Matlab simulation tools, message analysis tool, direct fault location tool.
Invention content
The purpose of the present invention is to solve the operating process of prior art direct fault location complexity, physical layer event can only be carried out
Barrier injection and the problem of cannot directly return to direct fault location result, and propose a kind of CAN bus fault simulation system and failure
Analogy method.
A kind of CAN bus fault simulation system includes：Signal dispatcher module, direct fault location module and software model；
Described information transceiver module from the data frame of the target machine at both ends for that will carry out digital signal and analog signal
Conversion；
The data that the direct fault location module is used to be sent according to software model, to the link layer or object of CAN bus
It manages layer and carries out direct fault location；
The software model sends direct fault location parameter to direct fault location module for providing human-computer interaction interface；
The direct fault location parameter includes direct fault location mode, the time type of failure, injection phase.
The load for the intermediate integrator for being due to stelliform connection topology configuration is bigger, and reliability is relatively low, in order to enable transmission number
Increase according to the reliability of itself, present invention employs the topological structures of bus-type to pass through according to the mode of CAN bus repeater
The data received are subjected to direct fault location at repeater node, then are sent back in each node, to observe each node report
The variation of literary content judges whether to inject successfully, so that operation is simple.As a result of the injection mode of protocol layer,
The data of capture can be tested in real time, based on the method for this CAN relay nodes, will have the right to look into system
It sees, the working mechanism of protocol layer can monitor and change, and can also determine whereabouts and the reception of each node transmission data
The source of data.
A kind of CAN bus failure simulation method includes the following steps：
Step 1：Injector is detected by detection module, if injector and communication link working condition are normal,
Direct fault location parameter setting is carried out by injecting interface submodule, direct fault location parameter is generated by parameter generation module；If note
Enter device and communication link working state abnormal, then debugs injector and communication link；
Step 2：The direct fault location parameter that step 1 generates is sent to fault injector, is set according to direct fault location parameter
Direct fault location mould failure stratification classification register in the block is set, when the value of register is 0x00, expression passes through link layer fault
Module injection link layer failure indicates to inject physical layer event by physical layer malfunctioning module when the value of register is 0x01
Barrier；
Step 3：The result of fault injector is obtained by interpretation of result module.
Beneficial effects of the present invention are：
Present system uses the method for integrating embedded hardware injection and software pouring two ways, realizes
Different types of failure is injected to the protocol layer and physical layer of communication system.Wherein, protocol layer realizes injection different time class
Type, triggering mode and the failure of position, physical layer realize the failure of different time parameter and level parameters.Meanwhile in host
Generator terminal devises Fault Control software, and user is allow easily to be configured to failure when using system, simplifies entire event
Hinder the operating process of injection, and the result of direct fault location can be returned.
For the function of validation fault simulation system, the method for the present invention has built CAN bus experimental situation, and is carried out to it
Direct fault location.The experimental results showed that system is successfully realized the injection of various faults, meet design requirement.It can return simultaneously
The result information of direct fault location is received and preserves, Real-time Feedback provides effectively to user for the evaluation of CAN bus fault freedom
It supports.
Description of the drawings
Fig. 1 is that present system function module divides figure；
Fig. 2 is system structure of the invention figure；
Fig. 3 is present system fundamental diagram；
Fig. 4 is direct fault location module operation principle of the present invention；
Fig. 5 is fifo structure figure inside CAN bus；
Fig. 6 is CAN bus transmission process business process map；
Fig. 7 is CAN bus receive process business process map；
Fig. 8 is direct fault location instruction format；
Fig. 9 is communication module state machine；
Figure 10 is that simplified PCB schemes；
Figure 11 module status transition diagrams in order to control；S0 is reset state in figure, and S1 is initiation command, and S2 is instantaneous
Enable, S3 are to wait for ceasing and desisting order, and S4 is permanent enable, and S5 is setting counter, and S6 is interval enable, and S7 is interval
disable；
Figure 12 is CAN bus fault simulation system overall workflow figure；
Figure 13 is system break work flow diagram；
Figure 14 is protocol layer direct fault location logical flow chart；
Figure 15 is physical layer direct fault location logical flow chart；
Figure 16 is serial ports flow and test flow chart；
Figure 17 is protocol layer direct fault location test flow chart；
Figure 18 is that integration testing module divides figure.
Specific implementation mode
Specific implementation mode one：A kind of CAN bus fault simulation system includes：Signal dispatcher module, direct fault location module
And software model；
Described information transceiver module from the data frame of the target machine at both ends for that will carry out digital signal and analog signal
Conversion；
The module is responsible for controlling the data in bus between CAN bus, since fault injector is based on association
View layer first injects, therefore the CPU of main control module application integration CAN controller.
CAN bus is two-way bus, therefore the transmission of data needs to send and receive using fifo mode
It does not clash.
The internal structure of CPU establishes an annular data buffering using the structure of FIFO in dual port RAM space
Area changes RAM and contains read/write double-serial port, can read/write operation is carried out at the same time, not need clock arbitration.Read register with write
Register all contains there are one counter --- " read pointer " and " write pointer ", all points to next wait for read/write every time after operation
Address.There are one state monitoring modules in the structure, to detect whether buffering area is empty when read operation or writes
Whether data overrun is occurred when operation, and structure is as shown in Figure 5.
The data that the direct fault location module is used to be sent according to software model, to the link layer or object of CAN bus
It manages layer and carries out direct fault location；
Direct fault location module be the fault parameter that sends control software with fault injector mutually to process.Work as control
Software processed not transmission data when, CAN1 controllers are then connected by fault injector with CAN2 controllers, and one end is sent
The data come are sent by the other end, realize two-way communication.When control software sends self-test signal, observation is total
Whether the data on line change, and indicate that communication link is arranged successfully if not changing；When control software sends difference
Injection parameter when, analyze the meaning that different parameters indicate respectively and carry out different direct fault locations, will inject failure later
Data frame is sent back in bus, and returns to control software, sends data every time, is judged as direct fault location parameter, carries out event
Barrier injection, until the serial ports transmission data of closing control software.
The software model sends direct fault location parameter to direct fault location module for providing human-computer interaction interface；
The direct fault location parameter includes direct fault location mode, the time type of failure, injection phase.
The function of control software mainly provides the user with a good human-computer interaction interface, can receive user's selection
Fault type, and different fault types is transformed into the fault parameter that fault injector can identify, user can pass through
Whether self-checking function detecting system works normally；Meanwhile control software can receive the data that fault injector passes back and show
Show and be stored in database, statistics comparison result is observed for user.
Present system nonfunction requirement
1. performance requirement
Aspect of performance requires CAN bus direct fault location tool to support 250 kilobits per second of maximum transmission rate (Kbit/s)；
CAN bus direct fault location tool can inject failure to data fields, while modify at least 4 byte data data；Delay
1-1 millisecond of microsecond (μ s) (ms) of time range, probable range 1%-100%；1 microsecond (μ of momentary type trouble duration range
S) -1 millisecond (ms)；1-1 millisecond of microsecond (μ s) (ms) of batch-type trouble duration range, 1 microsecond (μ s) of duration ranges-
1 millisecond (ms), injection number 1-1000 times.
2. reliability requirement
System has perfect fault simulating function, using ripe technology and advanced equipment, the technology with height
Advanced, stability can accurately be intercepted related data frame by way of repeater, and carry out failure note to corresponding data frame
Enter, Reliability comparotive is good.
3. external interface demand
Need three nine needles serial ports (DB-9), i.e. RS-232 interface.Two of which two is as CAN bus information transmit-receive end
Mouth, a conduct direct fault location port.
4. the demand of constraint
Systems development process and delivery document need that CAN bus 2.0b protocol version specifications, system is supported to need when delivering
There is complete technology to illustrate that report, user illustrate to report using report and scheme.
The present invention is capable of providing a good interpersonal interactive interface.Specific system function module divides as shown in Figure 1.
System architecture proposed by the present invention is as shown in Fig. 2, illustrate the overall work framework of system.CAN bus failure mould
Quasi- system can be designed as level framework, be the display layer interacted with user, the logical layer of handling failure and processing data respectively
Data Layer.Display layer is the platform with user's direct interaction, and user can select sequence of operations, including equipment detection, event
Hinder injection, interpretation of result etc..Wherein, direct fault location part, user can independently select required fault type and tool to be simulated
The modes such as body parameter, including duration, number, direction, mode.Major part of the logical layer as system, logical layer include
Two parts, a part are fault simulations, and another part is the processing for injecting result.Fault simulation is divided into simulation CAN bus
It receives and dispatches, the direct fault location of the direct fault location of protocol layer and physical layer.The failure of protocol layer includes specified direct fault location, random fault
Injection, delay fault injection and probability direct fault location, and physical layer includes then to fix 0, fixation, bit flipping etc..And data Layer is then
It is the data of the data and analysis of the result of data and direct fault location that CAN bus is received and dispatched respectively including two parts data.
As shown in figure 3, system controlling software is installed on PC control terminals, direct fault location is controlled by RS232 serial communications,
CAN bus data frame is received and dispatched by the target machine at both ends respectively, data frame need by CAN transceiver carry out digital signal and
The conversion of analog signal reaches the target machine of the other end finally by control chip.It includes two pieces to control chip, is CAN respectively
Bus control unit chip and CPLD chips.Wherein CAN bus control chip plays the role of repeater in unimplanted failure,
When needing to inject failure then as the fault injector of protocol layer；CPLD chips are mainly responsible for the direct fault location of physical layer, institute
There is the signal inputted by serial ports first by CPLD chips, and the type of portion's judgement failure is physical layer or association in the chip
Layer is discussed, physical layer interferes CAN bus in the data transmission of physical layer by externally exporting analog signal.
The operation principle of direct fault location module is not as shown in figure 4, protocol layer Fault Insertion Equipment is receiving user's control
As the repeater of data when the instruction of software, it can make to carry out normal information transmit-receive between CAN nodes and node, work as reception
After being instructed to direct fault location, protocol layer chip can analyze the instruction received, and carry out related amendments to the data frame of reception, from
And direct fault location is carried out to related data frame；The instruction of physical layer Fault Insertion Equipment being mainly used for according to user, passes through
Corresponding signal is sent in the bus that delivery outlet is being transmitted to data, to interfere the normal transmission of bus signals, control software
The settings such as fault type, time parameter can be carried out to physical layer fault injector by serial ports, so as to inject inhomogeneity
The failure of type.
Simulate the transmitting-receiving of CAN data
The module is responsible for controlling the data in bus between CAN bus, since fault injector is based on association
View layer first injects, therefore the CPU of main control module application integration CAN controller.We use Land Rover development board as CAN controller
It sends and receives signals, the function of specific CAN controller is as shown in table 1.
Table 3-1 CAN controller functions
CAN bus is two-way bus, therefore the transmission of data needs to send and receive using fifo mode
It does not clash.
The transmission process business process map of CAN bus is as shown in fig. 6, when CAN status registers detect transmission buffer
When idle, so that it may which the content write-in will send frame is sent in buffering area, and TDAX is written by four before the data segment of frame
Register, latter four are written in TDBX registers, and by the ID write-in TIDX registers of frame, CAN command register set is arranged
Request is sent, the message that buffering area will be ready for sending queuing according to selected priority is sent.
The receive process business process map of CAN bus is as shown in fig. 7, bus message works as reading using interrupt mode reception
When interrupt trap register ICR, reads and receive interrupt bit, if CAN controller reads reception information, the information that will just read
It stores in CANXRDA and CANXRDB registers, and discharges reception buffer, setting receives mark, removes interruption.
Core function designs
It is CanInject.c respectively for realizing that the core code of protocol layer direct fault location includes three files,
Can.c and Uart0.c files, wherein CanInject.c are the equal of principal function, the core content of handling failure injection, mainly
Function is as shown in table 2, and Can.c files are responsible for relaying and the setting of CAN bus, and detailed function is as shown in table 3, and Uart0.c is
The main modular of communication link is responsible for serial communication, and the data received from control software are interrupted using serial ports and send failure
The data of simulator, detailed function are as shown in table 4.
Primary function in 2 CanInject.c of table
Primary function in 3 Can.c of table
Primary function in 4 Uart0.c of table
CAN bus sends direct fault location instruction, the parameter generation module of foreground control software by serial ports to control chip
Situation generates corresponding instruction according to the user's choice, since every 8 transmissions of data demand that serial ports is sent are primary, so needing
Instruction is designed, to realize the fault simulation of different situations complexity.
As shown in Fig. 3-3, a length of five bytes of protocol layer faulting instruction, the positions 7-8 of first character section define failure
Time type, i.e. transient fault or permanent fault；The 5-6 injection phases for defining failure, i.e. data fields, controlling filed or arbitration
?；The 3-4 types for defining direct fault location fix 0, fix 1 or bit flipping；The 1-2 directions for defining direct fault location,
I.e. from CAN1 to CAN2 or opposite direction.Remaining four bytes are whether to carry out direct fault location to the specific position of some respectively
Mark.
Physical layer direct fault location
Communication module is responsible for mutually transmitting information between physical layer fault injector and communication software, therefore RS-232 is used to go here and there
Mouth is communicated, and the pattern of serial ports is unified for " 115200,8, N, 1 ", expression communication speed 115200kbps, 8 data bit, nothing
Check bit, a stop position.What is transmitted first is order and address：<It is 1 high, low 7>, high 1 is read-write, and ' 1 ' is
Read signal, ' 0 ' is write signal, and low 7 are register address, therefore 128 registers can at most be arranged, since warm reset occupies
One instruction encoding carries so be up to 127 registers, only used less register here for the expansion of program
Reserved resource is supplied.Next 8 data are transmitted.The port definition of communication module is shown in Table 5.
5 communication module port definition table of table
The CPLD chips of fault injector use 16M to be inputted as clock without source crystal oscillator, in order to improve serial ports transmission
Accuracy rate, clock input is divided, it is 16 times of serial ports rate to make the clock of communication module.It is adopted using this input
Sample serial ports inputs, it is possible to reduce influence of the serial ports noise to data transmission reduces the bit error rate.According to clock, communication is devised
The state machine of module, as shown in Figure 9.
Each state description such as table 6 in Fig. 9；
6 state description table of table
Before direct fault location starts, communication module receives the order from control software, and command parameter is stored in main control module
In each register；After direct fault location, the direct fault location result stored in main control module is sent to control by communication module
Software.Therefore, communication module is mainly responsible for the work for completing two large divisions：Serial data send and receive in main control module
The read-write of portion's register.Module is divided into two submodules.Serial submodules are responsible for sending and receiving for serial data, rd_wr
Submodule is responsible for the read-write of main control module internal register.
Direct fault location module is responsible for controlling the work of remaining module, and the value stored according to internal register works.It is main
Control inside modules are integrated with a series of and relevant register group of direct fault location.Internal time control submodule is responsible for controlling failure
The time of injection, so as to inject the failure of different time type.Before direct fault location starts, bus module for reading and writing is read
" address-data " parameter pair is stored in data in the register of corresponding address；After direct fault location, bus module for reading and writing is read
It takes the data of deposit to output and input and is sent to communication module.Table 7 lists the meaning represented by internal register.
7 main control module register meaning of table
Failure hierarchy selection register type_reg：The register stores fault type information, indicates the total of that direction
Line signal path injects what kind of failure.It is in the register statistics indicate that failure is happened at physical layer or protocol layer,
It is fixed -0, fixed -1 or bit flipping failure to also indicate injected when physical layer direct fault location simultaneously.type_reg
Presentation protocol layer failure when [7..6] is " 01 " indicates physical layer failure when being " 10 ", indicate to be not injected into failure when being " 00 ".
Trigger type register tiggtypr_reg：8 in total, register, between the register and direct fault location module
There is direct path, indicates the type of physical layer failure triggering.The every two triggering classes for specifying corresponding data position from high to low
Type：" 00 " indicates not trigger failure, and " 01 " indicates that triggering type triggers for data fields, and " 10 " indicate that triggering type is that arbitration field is touched
Hair.
Input data register indata_reg and output data register outdata_reg recycles mould for store results
The bus data of block record, indata_reg are preflood data, and outdata_reg is the data after injection.The two are posted
Storage is read for host timing, and control software analyzes this direct fault location by comparing the bus data before and after direct fault location
Whether effectively.
Fault time type register timetype_reg：Minimum two timetype_ in 16 data of the register
Reg [1..0] illustrates the time type of direct fault location：" 01 " indicates that injection momentary type failure, " 10 " indicate injection batch-type event
Barrier, " 11 " indicate injection permanent type failure.Remaining digit specifies the number of batch-type direct fault location, indicates ranging from 0-1000
It is secondary.
Trouble duration register duration_reg and time between failures register interval_reg：Instantaneous
When type direct fault location, duration_reg stores the length of transient fault；In batch-type direct fault location, duration_reg
Store the interval time of the duration of failure and interval_reg storage failures.It is fixed for the convenience of the user in control software
The unit of adopted correct time parameter, the two times is microsecond.Control software is when generating parameter, according to injector clock frequency
Rate, the timeticks number time being converted into inside for injector.
Triggering type register trigg_reg specifies the triggering mode of direct fault location, and trigg_reg [1..0] is " 01 "
When indicate random triggering, target triggering is indicated when being " 10 ".
In practical implementations, set direction module is also integrated with inside main control module, the module is before direct fault location starts
It determines the connection mode between internal module, changes the structure of direct fault location logic.Need the failure of injection " host to peripheral hardware "
When, direct fault location module is embedded on host to the signal path of peripheral hardware, and the signal path for being set to host outside remains unchanged；Instead
It, direct fault location Module-embedding is set in the signal path of host outside, and the signal path of host to peripheral hardware is constant；Direct fault location
After set direction module remove direct fault location module, restoring scene.
Direct fault location module
FPGA minimum development boards, acp chip are EPM1270.Use Altium DesignerSummer10 software realizations
Schematic diagram and the PCB figure of fault injector are drawn, and throw plate manufacture.
CAN bus forms two-way signaling transmission channel in physical layer using a pair of of differential signal (CANH and CANL), respectively
For CANH and CANL.CANH high level is for " dominant " value, expression logical zero；CANH level is " recessiveness " when being equal to CANL level
Value indicates logic 1；It is dominant to have higher priority relative to recessiveness, when dominant and recessive position is sent in bus simultaneously, bus
Upper appearance is dominant.Physical layer direct fault location is mainly the electrical characteristic transmitted by change data in physical layer, to interfere CAN total
The transmission of line data frame.Fault type is divided into transient fault, intermittent fault and permanent fault.
Physical layer direct fault location is to send direct fault location instruction to chip by serial ports, and chip can be sent out by IO
0 or 1 signal changes electrical characteristic with this.If Figure 10 is simplified PCB figures, it can be seen that main component, wherein core
Control chip be EPM1270T144C5N, as processing input/output signal and physical layer direct fault location internal logic processing
Carrier, the clock input of chip is 16M without source crystal oscillator, other components further include the electricity of serial port level conversion core piece, CAN
Road signal conversion, reset chip etc..
Fault injector hardware is mainly made of two bus modules with central processing element between the two, and is used
GPIO modules complete the communication and power supply between central processing element and host.
That the physical layer direct fault location of CAN bus fault simulation is selected is altera corp model EPM1270T144C5N
CPLD chips as central processing element, the carrier as direct fault location logic.The chip of the model is inputted defeated using 3.3V
Go out the low power dissipation design of voltage, and uses 144-TQFP encapsulation format.The clock input of CPLD is 16M without source crystal oscillator, and
Realize that chip reset circuit and JTAG download circuits are used for chip programming in periphery.It is respectively two CAN bus at the both ends of CPLD
Module is made of bus transmission circuit and bus I/O interface.CAN bus transceiver has chosen LPC1768FBD100 chips, chip
Contain bus receiver and bus transceiver simultaneously.Communication interface between CPLD and host uses a serial ports logical
Expansion interface UART0 is interrogated, additionally interface is reserved for the GPIO modules of host, facilitates Curve guide impeller in future.
The start and stop of direct fault location need multiple condition co- controllings, and it is unfavorable that injection control is merged with main control module
In functions of modules development and be not easy to safeguard.Therefore injection control module has been implemented separately.The module constantly reads master control
The register value of module, to determine whether to inject failure.Injection module realize respectively from CAN1 to CAN2 and from CAN2 to
The control of CAN1 both direction direct fault locations, the direct fault location of both direction are not interfere with each other, can be individually to the letter in a direction
Failure is injected in number channel, can also inject failure to the signal path of both direction simultaneously.Table 3-14 lists injection control mould
The port signal of block.
Table 8 injects the port signal of control module
Control of the control module using the realization of inj_enable signals to direct fault location module is injected, when inj_enable is
Effective when high level, direct fault location module can inject failure, and inj_enable is invalid when being low level, forbids direct fault location.
The three kinds of time types realized by the height combination of inj_enable level.
The inj_enable signals setting of momentary type failure is fairly simple, and setting inj_enable is when initiation command arrives
High level, while time counter starts timing, once timing is arrived, inj_enable is immediately converts into low level, direct fault location
Terminate.
Batch-type failure refers to that user needs repeatedly to inject identical failure, when each failure is having the same lasting
Between, there is the intermittent time per between failure twice.The time control for realizing batch-type, needs duration counter and intermittent time
Counter works alternatively, and during duration count, inj_enable is effective, counts intermittent time counter work after time-out
Make, inj_enable is invalid.The alternating height variation of inj_enable signal levels realizes the control of batch-type failure.
The duration of permanent type failure sends initiation command starting from control software, ceases and desist order to control software transmission
It terminates.So the inj_enable of permanent type failure is unrelated with duration and interval time, sent when receiving control software
Initiation command, inj_enable permanent High levels；When main control module receive control software transmission cease and desist order, can send
One warm reset signal, inj_enable restore low level, and direct fault location terminates.
Figure 11 is the state transition diagram of injection module work.It can be seen from the figure that module is resetted in state 0 enters shape
The initiation command to be implanted such as state 1.It is momentary type if timetype [1..0]=" 01 " when receiving injection initiation command, into
Entering state 2, inj_enable=' 1 ', duration counter work, each beat subtracts 1, after counter reduces to 0, inj_
Enable=' 0 ' simultaneously enters state 3；It is permanent type, setting inj_enable=' 1 ' is simultaneously if timetype [1..0]=" 10 "
Into state 3, inj_enable=0 and entrance state 0 after warm reset signal nRST arrives；If timetype [1..0]=
" 11 ", are batch-type, duration counter, interval time counter and number counter are arranged into state 5, then in shape
Inj_enable=' 1 ' is arranged in state 6 and duration counter successively decreases, and inj_enable=is set into state 7 after reducing to 0
' 0 ', interval time counter successively decreases, and reduces to 0 return state 5 and number subtracts 1, enters state 0 until number is finished rear module.
Table 9 is the explanation to method used in control software.
9 method explanation of table
Figure 12 describes the flow chart of fault simulation system overall work.Before program brings into operation it may first have to carry out
Self-test, checks whether equipment can be normally carried out work, then can according to the selection for the fault attribute that user makes in interface,
The instruction for generating corresponding failure, when instruction generates the direct fault location for completing that next step can be carried out.Direct fault location part is according to finger
Order carries out bus data different interference, and after command adapted thereto is transmitted across, fault injector can lead to direct fault location result
It crosses serial communication and feeds back to control terminal, control terminal can be further analyzed the data of feedback, to the note that must be out of order
Enter and whether succeeds.
Figure 13 is the flow chart of system break work, and protocol layer direct fault location module realizes reception control software and sends
Fault parameter, and the data segment of data frame that corresponding registers in fault injector preserve is sent to control software.It is common
Communication modes have UART, JART, Ethernet, USB etc., in order to simplify circuit, reduce delay, we use RS232 serial ports
UART communication modes.Communication link sends and receivees information by the way of down trigger, when being judged as sending interruption,
Serial ports is opened, the information in control software is sent out into fault injector, serial ports is closed after running through data；When being judged as in reception
When disconnected, serial ports is opened, the result recycled in fault injector is passed into control software, pending data closes serial ports after writing.
Figure 14 is CAN bus fault simulation system protocol layer direct fault location logical flow chart, before direct fault location, first
Needing through ser_AvailChar (&numAvailByte) function obtains the dependent instruction of injection and saves it in caching and post
It is the analytic process of instruction with that in storage, the location of fault representated by first decision instruction, and respectively to corresponding position
Corresponding direct fault location is carried out, when direct fault location terminates, it would be desirable to collect direct fault location as a result, 0000 sentences further according to instruction
Determine direction and export, finally judges the time type of failure, be permanent fault or transient fault then needs if permanent fault
Direct fault location is instructed in deposit cache register, and calls repeatedly and achievees the purpose that permanently to inject, if transient fault, then
It only needs to empty cache register before, to protocol finishes layer direct fault location logic.
Figure 15 is that the physical layer direct fault location logical flow chart of system needs to reset all post before direct fault location
Storage, in CPLD chips, we are provided with a failure stratification classification register, when the value of register is " 0x00 ", table
Show injection protocol layer failure, when the value of register is " 0x01 ", indicates injection physical layer failure.After having reset register,
Firstly the need of failure stratification classification register is write, physical layer is indicated entry into.Whether then need the instruction that judgement inputs is physics
Input terminal is assigned to output end, is equivalent to the direct-connected of signal by layer failure if it is not, then TXD is directly enabled to be equal to RXD.If it is
Physical layer then starts to write time type register, respectively instantaneously, intermittently or permanently, and is respectively written into other related deposits
Device then proceeds by the direct fault location of physical layer after the completion of write-in.
Specific implementation mode two：The present embodiment is different from the first embodiment in that：Described information transceiver module is also
Including bus initialization submodule, transmission data frame submodule and receive Data frame module；
The bus initialization submodule is for initializing register and clock；
The priority for the data frame that the transmission data frame submodule is used to be sent according to every carries out data frame transmission；
The Data frame module that receives is used to, according to the ID being previously obtained, receive data frame, and returns to response letter in time
Breath indicates to receive normal.
Other steps and parameter are same as the specific embodiment one.
Specific implementation mode three：The present embodiment is different from the first and the second embodiment in that：The direct fault location mould
Block includes link layer fault submodule and physical layer failure submodule；
The link layer fault submodule is used for the intercept information in the link layer of data frame transfer, is specified according to user
It is required that change data frame, is divided into specified failure, delay fault, random fault and probability failure by direct fault location mode；Failure
Time type is divided into transient fault, permanent fault and intermittent fault；Injection phase is divided into data fields, arbitration field and controlling filed；Make
The failure that failure finally is divided into the failure and information flow rank of a rank is obtained, user being capable of the different direct fault location of random combine
Mode, triggered time parameter and injection phase, form different types of failure；
The physical layer that the physical layer failure submodule is used to propagate in CAN signal is operated, and fault injector passes through
Different types of physical layer failure can be realized to change the information of transmission by changing electrical characteristic；Physical layer direct fault location point
It is User Defined direct fault location and triggering direct fault location respectively for two ways；User Defined direct fault location is that user is logical
Host side of passing the night control software selects the physical layer failure of direct fault location mode and fault injection time, and failure is passed to by serial ports
Injector causes failure；Triggering direct fault location, which is then user, can set the corresponding data of triggering failure and corresponding ID, work as failure
When injector detects that the data of the data frame transmitted in bus or ID are the numerical value of setting, physical layer failure is generated；The event
Barrier injection mode is divided into specified failure, delay fault and probability failure, and the time type of failure is divided into transient fault, permanent fault
And intermittent fault.
Other steps and parameter are the same as one or two specific embodiments.
Specific implementation mode four：Unlike one of present embodiment and specific implementation mode one to three：The link layer
Failure submodule includes serial ports interrupt location, and frame resolution unit, data frame modification unit, frame recomposition unit and result recycling are single
Member；
The serial ports interrupt location is used to receive the data from control software and sends the data of fault simulator, uses
The reception of data is completed in the interruption of UART, defines fifo buffer to preserve the data of reception；
The frame resolution unit is used to carry out frame parsing to CAN bus message by CAN controller driver, obtains
The different fields of bus data frame are obtained, and the different data of different data frame is stored in corresponding register and waits for direct fault location
The processing of module, frame parsing operation are completed in CAN controller；
Since the data frame that CAN bus transmission comes has 7 different sections, we will carry out different positions corresponding
Direct fault location, it is therefore desirable to frame parsing be carried out to CAN bus message by CAN controller driver, obtain number of buses
According to the different fields of frame, and the different data of different data frame is stored in the place that direct fault location module is waited in corresponding register
Reason, frame parsing operation are completed in CAN controller.CAN mode registers are for changing the behavior of CAN controller, CAN interruptions
The relevant information of CAN bus event is stored with capture register, CAN interrupt enable register controls each registers of CAN
Whether the generation of interruption can result in, and also some registers are responsible for receiving and sending messages.
The data frame modification unit, which is used to be injected separately on data frame points of 7 fields, fixes 0, fixes 1 and bit flipping
Failure (according in software model user select injection phase parameter determine which field to inject which kind of failure into)；
There are in corresponding register at message for the frame addition capitiform that the frame recomposition unit is used to change；
The result recovery unit is used for the data in timing acquiring data frame analyzing unit and frame recomposition unit, checks event
Whether barrier injection succeeds, and influence of the failure injected to bus data；As a result in the register of deposit control module, by controlling
Molding block passes to control software and is shown to user.
Other steps and parameter are identical as one of specific implementation mode one to three.
Specific implementation mode five：Unlike one of present embodiment and specific implementation mode one to four：The physical layer
Failure submodule includes User Defined trouble unit and signal triggering trouble unit；
The physical layer failure submodule is used to inject different types of failure in control interface User Defined, will be corresponding
Direct fault location version be sent in physical layer；
The signal triggering trouble unit is used for when direct fault location plate receives signal, triggers the failure of physical layer.
Other steps and parameter are identical as one of specific implementation mode one to four.
Specific implementation mode six：Unlike one of present embodiment and specific implementation mode one to five：The control is soft
Part module includes generating submodule, detection sub-module, injection interface submodule and result with parameter to recycle submodule；
The parameter generates submodule and is used to be generated according to the setting of user and can be joined by the direct fault location of injector identification
Number；In process of self-test, it is that each register inside injector generates an initial value that parameter, which generates submodule,；It is noting
During entering, what parameter generated submodule generation is the value of the register under current failure pattern；The direct fault location parameter
Including direct fault location mode, the time type of failure, injection phase；
The detection sub-module ensures that injector and communication link are intact available for detecting injector original state；?
Before carrying out direct fault location using Fault Insertion Equipment, self-test operations will be carried out to injector itself.The detailed process of self-test is：
Initial value is written into each register inside injector, reads the value, compares write-in value and readout, unanimously then shows
Injector and communication link are intact available；
The injection interface submodule is used to parameter generating the parameter that submodule generates and be configured, by current failure mould
The required parameter of formula is sent to injector, while parameter passed to interpretation of result module in case analysis after injection；
The interpretation of result module is used to receive the register value inside signal dispatcher module read failure injector, obtains
The result of direct fault location.
Other steps and parameter are identical as one of specific implementation mode one to five.
Specific implementation mode seven：A kind of CAN bus failure simulation method includes the following steps：
Step 1：Injector is detected by detection sub-module, if injector and communication link working condition are normal,
Direct fault location parameter setting then is carried out by injecting interface submodule, generating submodule by parameter generates direct fault location parameter；
If injector and communication link working state abnormal, debug injector and communication link；
Step 2：The direct fault location parameter that step 1 generates is sent to fault injector, is set according to direct fault location parameter
Direct fault location mould failure stratification classification register in the block is set, when the value of register is 0x00, expression passes through link layer fault
Submodule injects link layer failure, when the value of register is 0x01, indicates to inject physics by physical layer failure submodule
Layer failure；
Step 3：The result of fault injector is obtained by interpretation of result module.
Specific implementation mode eight：Present embodiment is unlike specific implementation mode seven：Pass through chain in the step 2
The detailed process of road floor failure submodule injection link layer failure is：
Step 2 one：Whether the injection phase of failure judgement injection parameter is data fields, if data fields, then carries out data
Field direct fault location judges that transmission direction simultaneously exports result；If it is not, thening follow the steps two or two；
Step 2 two：Whether the injection phase of failure judgement injection parameter is arbitration field, if arbitration field, then arbitrated
Field direct fault location judges that transmission direction simultaneously exports result；If it is not, thening follow the steps two or three；
Step 2 three：Controlling filed direct fault location is carried out, judge transmission direction and exports result；
Step 2 four：Whether the time type of the failure of failure judgement injection parameter is permanent fault, if so, will caching
The value of register, which is written in its corresponding register, (if permanent fault, then to be needed direct fault location instructing deposit caching deposit
It in device, and calls repeatedly and achievees the purpose that permanently to inject, if transient fault, then only need to empty cache register before
, to protocol finishes layer direct fault location logic)；If it is not, then removing cache register.
Other steps and parameter are identical as specific implementation mode seven.
Specific implementation mode nine：Present embodiment is unlike specific implementation mode seven or eight：Lead in the step 2
Cross physical layer failure submodule injection physical layer failure detailed process be：
Step (1)：Whether the fault injection time of failure judgement injection parameter is intermittent fault, if so, setting interval
Time, injection times and duration register；If it is not, thening follow the steps (2)；
Step (2)：Whether the fault injection time of failure judgement injection parameter is transient fault, if so, setting continues
Time register；If it is not, thening follow the steps (3)；
Step (3)：It is 1 that it is constant that inj_enable, which is arranged,.
Other steps and parameter are identical as specific implementation mode seven or eight.
Embodiment one：
Testing scheme
Model used in the exploitation of CAN bus fault simulation system is V models, so system testing will be followed by exploitation mould
Type is walked, and includes unit testing, integration testing, system testing and Acceptance Test successively, and the emphasis of test in unit testing and integrates
Test.In unit testing, need to carry out Black-box Testing and white-box testing to each submodule, for checking program internal logic
With the accuracy of function, the method that wherein white-box testing uses elementary path covering, Black-box Testing uses the side of equivalence class partition
Method.And in integration testing, the use-case of integration testing is devised, modules are tested.For last system testing
And Acceptance Test, the then index request that the contradistinction system design phase proposes are verified according to index, test whether to touch the mark one by one
It is required that.
Test scope
Each function module of system is carried out detection one by one, including the transceiver module of CAN bus data, failure note by this test
Enter device module and software model, the function of enumerating in demand analysis is investigated, each function is being realized just to system
Often sufficient test is done in operation, inputs operation and the error handling processing situation of reasonable and unreasonable test data checking function.
Serial port setting and self-test
The first step：System login equivalence classification is as shown in table 10.
10 system login equivalence class partition table of table
Second step：System login test case is as shown in table 11.
11 system login equivalence class partition table of table
Third walks：Serial port setting flow and testing process are as shown in figure 16.
4th step：System login white-box testing data are as shown in table 12.
12 system login white-box testing table of table
Protocol layer direct fault location
The first step：Protocol layer direct fault location equivalence classification is as shown in table 13.
13 protocol layer direct fault location equivalence class partition table of table
Second step：Protocol layer direct fault location test case is as shown in table 14.
14 protocol layer direct fault location test case table of table
Third walks：Protocol layer direct fault location testing process is as shown in figure 17.
4th step：Protocol layer direct fault location white-box testing data are as shown in Table 15.
15 protocol layer direct fault location white-box testing table of table
Integration testing
Modules are fitted together into carry out integration testing, each mould after detection integration on the basis of unit testing
Block can work normally.
Integration testing module divides as shown in figure 18.
Each module testing sequence of system testing is as follows：
M1—M2—M6—M7—M8—M9—M3—M10—M11—M4—M12—M13—M5—M14—M15—
M16—M17
As shown in table 16, it is the integration testing use-case enumerated according to test module sequence, and indicates expected results and reality
Test result.
16 integration testing use-case of table
System testing and Acceptance Test
Can system testing and Acceptance Test mainly test whether system meets project indicator requirement, meet user demand,
System testing and Acceptance Test require as shown in table 17.
17 system testing of table and Acceptance Test table
The present invention can also have other various embodiments, without deviating from the spirit and substance of the present invention, this field
Technical staff makes various corresponding change and deformations in accordance with the present invention, but these corresponding change and deformations should all belong to
The protection domain of appended claims of the invention.
Claims (8)
1. a kind of CAN bus fault simulation system, it is characterised in that：The CAN bus fault simulation system includes：Information transmit-receive
Module, direct fault location module and software model；
Described information transceiver module from the data frame of the target machine at both ends for that will carry out turn of digital signal and analog signal
Change；
The data that the direct fault location module is used to be sent according to software model, to the link layer or physical layer of CAN bus
Carry out direct fault location；
The software model sends direct fault location parameter to direct fault location module for providing human-computer interaction interface；It is described
Direct fault location parameter includes direct fault location mode, the time type of failure, injection phase.
2. a kind of CAN bus fault simulation system according to claim 1, it is characterised in that：Described information transceiver module is also
Including bus initialization submodule, transmission data frame submodule and receive Data frame module；
The bus initialization submodule is for initializing register and clock；
The priority for the data frame that the transmission data frame submodule is used to be sent according to every carries out data frame transmission；
The Data frame module that receives is used to, according to the ID being previously obtained, receive data frame, and return to response message.
3. a kind of CAN bus fault simulation system according to claim 2, it is characterised in that：The direct fault location module packet
Include link layer fault submodule and physical layer failure submodule；
The link layer fault submodule is used for intercept information, the requirement specified according to user in the link layer of data frame transfer
Direct fault location mode is divided into specified failure, delay fault, random fault and probability failure by change data frame；The time of failure
Type is divided into transient fault, permanent fault and intermittent fault；Injection phase is divided into data fields, arbitration field and controlling filed；User's energy
Enough random combines different direct fault location mode, triggered time parameter and injection phase, form different types of failure；
The physical layer failure submodule is for User Defined direct fault location and triggering direct fault location；User Defined failure is noted
Enter the physical layer failure for being user by host's generator terminal control software selection direct fault location mode and fault injection time, passes through string
Oral instructions enter fault injector and cause failure；Triggering direct fault location is then that user sets the corresponding data of triggering failure and corresponding ID,
When fault injector detects that the data of the data frame transmitted in bus or ID are the numerical value of setting, physical layer failure is generated；
The direct fault location mode is divided into specified failure, delay fault and probability failure, and the time type of failure is divided into transient fault, forever
Long failure and intermittent fault.
4. a kind of CAN bus fault simulation system according to claim 3, it is characterised in that：The link layer fault submodule
Block includes frame resolution unit, and data frame changes unit, frame recomposition unit and result recovery unit；
The frame resolution unit is used to carry out frame parsing to CAN bus message by CAN controller driver, obtains total
The different fields of line data frame, and the different data of different data frame is stored in waiting direct fault location module in corresponding register
Processing, frame parsing operation is completed in CAN controller；
The data frame modification unit, which is used to be injected separately on data frame points of 7 fields, fixes 0, fixes the event of 1 and bit flipping
Barrier；
There are in corresponding register at message for the frame addition capitiform that the frame recomposition unit is used to change；
The result recovery unit is used for the data in timing acquiring data frame analyzing unit and frame recomposition unit, checks that failure is noted
Enter and whether succeeds；As a result it is transmitted to software model and is shown to user.
5. a kind of CAN bus fault simulation system according to claim 4, it is characterised in that：The software model packet
It includes and generates submodule, detection sub-module, injection interface submodule and interpretation of result submodule with parameter；
The parameter generates submodule and is used to generate the direct fault location parameter identified by injector according to the setting of user；In self-test
In the process, it is that each register inside injector generates an initial value that parameter, which generates submodule,；In injection process, ginseng
What number generated submodule generation is the value of the register under current failure pattern；The direct fault location parameter includes direct fault location
Mode, the time type of failure, injection phase；
The detection sub-module is written initial for detecting injector original state into each register inside injector
Value, reads the value, compares write-in value and readout, unanimously then shows that injector and communication link are intact available；
The injection interface submodule is used to parameter generating the parameter that submodule generates and be configured, by current failure pattern institute
The parameter needed is sent to injector, while parameter passed to interpretation of result module in case analysis after injection；
The interpretation of result module is used to receive the register value inside signal dispatcher module read failure injector, obtains failure
The result of injection.
6. a kind of CAN bus failure simulation method based on CAN bus fault simulation system described in claim 1, feature exist
In：The CAN bus failure simulation method includes the following steps：
Step 1：Injector is detected by detection sub-module, if injector and communication link working condition are normal, is led to
It crosses injection interface submodule and carries out direct fault location parameter setting, generating submodule by parameter generates direct fault location parameter；If note
Enter device and communication link working state abnormal, then debugs injector and communication link；
Step 2：The direct fault location parameter that step 1 generates is sent to fault injector, according to the event of direct fault location parameter setting
Hinder the failure stratification classification register in injection module, when the value of register is 0x00, indicates to pass through link layer fault submodule
Block injection link layer failure indicates to inject physical layer event by physical layer failure submodule when the value of register is 0x01
Barrier；
Step 3：The result of fault injector is obtained by interpretation of result module.
7. a kind of CAN bus failure simulation method according to claim 6, it is characterised in that：Pass through chain in the step 2
The detailed process of road floor failure submodule injection link layer failure is：
Step 2 one：Whether the injection phase of failure judgement injection parameter is data fields, if data fields, then carries out data fields event
Barrier injection judges transmission direction and exports result；If it is not, thening follow the steps two or two；
Step 2 two：Whether the injection phase of failure judgement injection parameter is arbitration field, if arbitration field, then carries out the event of arbitration field
Barrier injection judges transmission direction and exports result；If it is not, thening follow the steps two or three；
Step 2 three：Controlling filed direct fault location is carried out, judge transmission direction and exports result；
Step 2 four：Whether the time type of the failure of failure judgement injection parameter is permanent fault, if so, caching is deposited
The value of device is written in corresponding register；If it is not, then removing cache register.
8. a kind of CAN bus failure simulation method according to claim 7, it is characterised in that：Pass through object in the step 2
Reason layer failure submodule injection physical layer failure detailed process be：
Step (1)：Whether the fault injection time of failure judgement injection parameter is intermittent fault, if so, the setting intermittent time,
Inject times and duration register；If it is not, thening follow the steps (2)；
Step (2)：Whether the fault injection time of failure judgement injection parameter is transient fault, if so, the setting duration
Register；If it is not, thening follow the steps (3)；
Step (3)：It is 1 that inj_enable, which is arranged,.
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