CN109639546A - A kind of CAN bus based redundant system - Google Patents
A kind of CAN bus based redundant system Download PDFInfo
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- CN109639546A CN109639546A CN201811631040.0A CN201811631040A CN109639546A CN 109639546 A CN109639546 A CN 109639546A CN 201811631040 A CN201811631040 A CN 201811631040A CN 109639546 A CN109639546 A CN 109639546A
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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
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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
- H04L12/40169—Flexible bus arrangements
- H04L12/40176—Flexible bus arrangements involving redundancy
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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
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Abstract
The present invention provides a kind of CAN bus based redundant systems.The present invention cannot mix carry, active-standby switch disturbance when can effectively overcome dual redundant bus using active-standby mode, and the defect that position section carries out redundant frame arbitration mutually is occupied in arbitration domain or data field for when mode, it realizes redundant frame to screen without waiting, and then substantially increases the real-time of system.The invention also achieves third-party application layer protocols can be used without modifying, and custom protocol problem can only be run by avoiding, and expand the use scope of redundancy protocol.
Description
Technical field
The present invention relates to a kind of CAN bus based redundant systems.
Background technique
With the development of technology, industrial network obtains extensively in industrial automation, shipboard automation, vehicle automatic field
Using.And have higher requirement to communication reliability and availability in vehicle automation, shipboard automation field, CAN bus
As a kind of fieldbus for vehicle application exploitation, anti-interference ability is widely verified.However, being led in marine vessel applications
Domain, due to bad environments, packing density is larger, bus sensitive for damages.The reliability that CAN bus is established on single channel is just shown
Must be fragile, global failure is be easy to cause when bus failure occurs.Therefore, it is mostly used greatly in ship domain using CAN bus superfluous
Remaining mode guarantees that another channel remains to maintain communication when a channel-failures.
Existing CAN bus dual redundant mechanism mostly uses greatly active-standby switch mode, and system is connect respectively by two CAN bus ports
Enter two bus channels, under normal condition controller select wherein a channel as working bus (Active, abbreviation A), and
An other bus does not transmit data or only transmits status information, and we term it backup bus (Backup, abbreviation B).When A is total
When line communication failure, active-standby switch is initiated by node in bus.Due to being first had to before switching through confirmation failure be permanent
Failure, negotiating and initiating B line, therefore active-standby switch is required to for tens Dao several hundred milliseconds switching time, cannot accomplish real unperturbed
Switching.Under active-standby switch mechanism, if more than two nodes break downs, and part of nodes A line failure, the event of part of nodes B line
Barrier, then system integrity cannot be run by fatal damages, system.Under active-standby switch mechanism, B line does not transmit data, if line
Upper node be non-redundant node, if the node carry cannot transmit data on B line, therefore do not support redundant node and
Non-redundant node mixing carry.Therefore improve limited, failure hair using the system dual redundant availability that active-standby switch mode is realized
System may still be run and be had an impact when raw.Such as the DS307 agreement according to CANopen agreement, use active-standby switch mould
Formula work initiates active-standby switch frame by the node for receiving mistake when main line breaks down, it is desirable that main channel is changed to spare
Channel, and alternate channel upgrades to main channel.When detection reception failure respectively occurs for multinode, then frequency occurs for bus maximum probability
Numerous active-standby switch, final normal communication can not carry out.
And use the dual redundant mechanism of active-standby mode realization each other then to can avoid problem above, but to realize that redundant frame is screened,
Big multipair arbitration domain, data field make and change, to realize the identification of redundant frame.Such as a kind of " airborne dual-redundancy CAN bus communication party
Method " (patent No.: CN108023799A) defines redundant channel in arbitration domain although to using the synchronous sending method of dual bus
Identifier (RCI) is for indicating that message information is same frame data.As " a kind of dual-redundant CAN bus sending method " (patent No.:
CN103840993A), " a kind of dual-redundant CAN bus sending method " (patent No.: CN103490966B) is although refer to same with receiving
Method method is but needed to arbitrate message domain and carries out message distribution, and assignment messages type, disappeared in receiving end using data field definition
It ceases serial number and carries out repetition message examination processing.And " dual-redundant CAN bus controller and its message processing method " (patent No.:
CN101282301B mode equally) is arbitrated using prioritisation of messages.Arbitration domain is taken with upper type, defines special letter in data field
The mode in breath domain carries out redundancy message examination, and application layer protocol cannot use and common application layer is widely used at present under such mode
Agreement and can only use custom protocol, limit the use scope of dual redundant mechanism under active-standby mode each other.
Summary of the invention
The purpose of the present invention is to provide a kind of CAN bus based redundant systems.
To solve the above problems, the present invention provides a kind of CAN bus based redundant system, comprising:
Multiple nodes, each node are connected on CAN bus A and CAN bus B simultaneously, and each node includes application
Layer protocol, redundancy arbitration layer, CAN controller A, CAN controller B, driver A and driver B, wherein
The redundancy arbitration layer is connect with the application layer protocol；
The CAN controller A and CAN controller B is connect with the redundancy arbitration layer respectively；
The driver A is connect with the CAN bus A and the CAN controller A respectively, the driver B and institute
CAN bus B is stated to connect with the CAN controller B.
Further, in above system, when transmitting terminal passes through the CAN controller A and CAN controller B
When sending message to the node of receiving end, the node starting controller A of transmitting terminal is synchronous with controller B to be sent, and starts transmission
Clock, such as tranmitting data register time-out, message fails to send successfully, then stops sending, clear to send buffer area；
After the CAN controller A and CAN controller B of receiving end receive message, redundancy arbitration is sent a message to
Layer, redundancy arbitration layer are that efficient message then uploads to application layer protocol, while message is pushed into fifo buffer through redundancy arbitration,
As arbitrating data；During waiting redundancy arbitration, subsequently received message continues to submit to arbitration layer, until arbitrating data
Fifo buffer overflows.
Redundancy arbitration layer retrieves front and continued message after receiving message immediately, abandons if message is processed, otherwise, as new
Message Processing.
Further, in above system, the redundancy arbitration layer, for setting between longest sending time, setting transmission
Every time and setting longest receiving time.
Further, in above system, the longest sending time can be set, and this example is set as 5 milliseconds；The transmission
Interval time can set, and this example is selected as 2 times of sending times；The longest receiving time selection is consistent with interval time is sent.
Further, in above system, the redundancy arbitration layer is for establishing fifo buffer, the message judgement received
Timestamp is then added to arrive first message, and is pressed into fifo buffer, message spilling then squeezes out receives data at first.
Further, in above system, whether effective the redundancy arbitration layer receives message for arbitration.
Further, in above system, in redundancy message transmission process, application layer protocol pushes message to be sent
It does not send if the monitoring of redundancy arbitration layer, which sends interval, sends interval time less than default to redundancy arbitration layer, exits and be transmitted across
Otherwise journey continues to send.The starting of redundancy arbitration layer sends timing, message is pushed to CAN controller A, CAN bus controls
Device B, synchronous averaging are sent, and exit transmission process if CAN bus A and CAN bus B sends message success；If sending failure,
Then continue to send, until send successfully or sending time time-out, stop send, emptying buffer, wait next time send.
Further, in above system, in redundancy message receive process, which assumes that CAN controller A is received
Message, starting receives timing after CAN controller A receives message, while message and message in fifo buffer being compared
Right, if there are identical message in fifo buffer, and message meets from CAN controller B and connects with current message
The time difference received is less than receiving time, then abandons as redundancy message；If not satisfied, then thinking that the message is new information, pressure
Enter fifo buffer, while to application layer committing protocol.
Compared with prior art, the present invention can effectively overcome dual redundant bus using the defect of active-standby mode: avoid CAN
Bus redundant node and non-redundant node mixing carry under active-standby mode cause system to be unable to normal communication problem and active and standby cut
Change perturbed problem.Also the existing mutually standby mode redundancy that can effectively overcome by arbitration domain or data field occupy position section into
The defect of row redundant frame arbitration.Through the invention, system message interval caused by conventional master-slave redundancy mode is effectively prevented to tremble
Dynamic, the defects of active-standby switch disturbs, redundant frame is screened without waiting, and maximization improves system real time.Through the invention, superfluous
Remaining agreement does not modify message, solves the problems, such as to transmit common application layer protocol on redundant channels, to application layer protocol without carrying out
Modification can be used, and custom protocol problem can only be run by avoiding, and expand the use scope of redundancy protocol.In addition, this hair
It is bright to be arrived first effectively due to using, redundant fashion is arrived afterwards, carries out Effective judgement immediately after receiving message, and valid data are located in time
Reason, can effectively improve system real time.
Detailed description of the invention
Fig. 1 is the CAN bus communications rack composition of one embodiment of the invention；
Fig. 2 is the nodal function block diagram of one embodiment of the invention；
Fig. 3 is the reception flow chart of one embodiment of the invention.
Specific embodiment
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
As shown in Figure 1, the present invention provides a kind of CAN bus based redundant system, comprising: multiple nodes, each node
It is connected on CAN bus A and CAN bus B simultaneously, each node includes application layer protocol, redundancy arbitration layer, CAN bus control
Device A, CAN controller B, driver A and driver B, wherein
The redundancy arbitration layer is connect with the application layer protocol；
The CAN controller A and CAN controller B is connect with the redundancy arbitration layer respectively；
The driver A is connect with the CAN bus A and the CAN controller A respectively, the driver B and institute
CAN bus B is stated to connect with the CAN controller B.
Here, the present invention is made of redundant CAN bus interconnected between several nodes and node, as shown in Figure 1, system
It is made of two channel CAN bus A, the CAN bus B of node 1, node 2, node 3 ... node n and redundancy.System Nei Gejie
The built-in beat clock of point, pitch time can be optional, and preferably pitch time is that bus sends time occupied by a full message, example
Such as: 1 millisecond.
Node is by application layer protocol, redundancy arbitration layer, CAN controller A, CAN controller B, driver A, drive
Dynamic device B is constituted, as shown in Figure 2.
Node, which is provided simultaneously with, sends and receivees function, and for convenience of stating, transmission-receiving function can be decomposed into receiving end and hair by Fig. 2
Sending end is in reception state in addition to transmitting terminal is during send data.
In one embodiment of CAN bus based redundant system of the invention, when transmitting terminal passes through the CAN controller
When A and CAN controller B sends message to the node of receiving end, transmitting terminal is sent in the port A, B synchronous averaging, and same
Step starting tranmitting data register.If the port AB sends success, then complete to send.As tranmitting data register time-out and have port fail send at
Function then stops sending, and clear to send buffer area waits send next time.
After the CAN controller A and CAN controller B of the node of receiving end receive message, send a message to superfluous
Remaining arbitration layer, redundancy arbitration layer carry out redundancy arbitration to message, efficient message are submitted application layer, while message is pushed into FIFO
Buffer area, redundancy arbitration layer carry out redundancy arbitration；During waiting redundancy arbitration, subsequent message continues to send, until FIFO is buffered
It overflows in area.
After receiving message, redundancy arbitration layer retrieves front and continued message, if message is redundancy message, abandons, otherwise, as having
Imitate Message Processing.
In one embodiment of CAN bus based redundant system of the invention, the redundancy arbitration layer, when being sent for setting
Between, it is preferred that sending time is selected as 5 milliseconds, i.e., one full message of every millisecond transmission is the time required to sending 5 message
Bus collision is set aside some time；Interval time is sent for setting, it is preferred that transmission interval time is selected as 2 times of sending times, protects
Card system reliable reception；For setting receiving time, it is preferred that receiving time selection is consistent with interval time is sent, and guarantees institute
There is message being capable of reliable reception.
In one embodiment of CAN bus based redundant system of the invention, the redundancy arbitration layer is slow for establishing FIFO
Area is rushed, the message received is judged as that arriving first message is then added timestamp, and is pressed into fifo buffer, and message spilling then squeezes out at first
Receive data.
In one embodiment of CAN bus based redundant system of the invention, the redundancy arbitration layer disappears for arbitrating to receive
It whether effective ceases.
In one embodiment of CAN bus based redundant system of the invention, in redundancy message transmission process, application layer association
Message to be sent is pushed to redundancy arbitration layer by view, if the monitoring of redundancy arbitration layer, which sends interval time, is less than preset time, no
It sends, exits transmission process, otherwise continue to send, the starting of redundancy arbitration layer sends timing, and message is pushed to CAN bus control
Device A, CAN controller B, starting are sent, and exit transmission process if CAN bus A and CAN bus B sends message success；
If sending failure, continue to send, until sending successfully or sending time is overtime, exits transmission process if sending successfully, if
It is overtime then stop sending, emptying buffer.
Therefore, data time difference can not be more than sending time in two buses.And the message hair in two same arbitration domains
It send the time difference not to be less than transmission time interval, sends data flow as shown in Fig. 2 transmitting terminal.
In one embodiment of CAN bus based redundant system of the invention, in redundancy message receive process, which assumes
CAN controller A receives message, and CAN controller A receives starting after message and receives timing, while by message and FIFO
Message is compared in buffer area, if there are identical message in fifo buffer, and message meets from CAN controller
The B and time difference received with current message is less than receiving time, then abandon as redundancy message；If not satisfied, then thinking
The message is new information, is pressed into fifo buffer, and to application layer committing protocol.
Here, receiving data flow as shown in the receiving end Fig. 2, process is as shown in Figure 3.
The present invention can effectively overcome dual redundant bus to use the defect of active-standby mode, avoid CAN bus in active-standby mode
Lower redundancy non-redundant node mixing carry causes components of system as directed node to be unable to normal communication and active-standby switch perturbed problem, also can
The prior art is by occupying the defect that position section carries out redundant frame arbitration in arbitration domain or data field under the mutually standby mode effectively overcome.
Through the invention, system message space jitter caused by conventional master-slave redundancy mode is effectively prevented, active-standby switch disturbance etc. lacks
It falls into, redundant frame is screened without waiting, and maximization improves system real time.Through the invention, redundancy protocol does not modify message, solution
It has determined and has transmitted common application layer protocol problem on redundant channels, application layer protocol can be used without modifying, avoid
Custom protocol problem can only be run, the use scope of redundancy protocol is expanded.In addition, the present invention arrives first effectively due to using,
Redundant fashion is arrived afterwards, carries out Effective judgement immediately after receiving message, and valid data are handled in time, can effectively improve system
Real-time.
In the present invention, two channels are active and standby each other, without point of active channel and spare channel.Each node is only by two
Vertical controller, independent transceiver constitute two independent CAN ports.It uses while sending out in bus operational process, receive at any time
Mode realizes redundancy, effectively prevents system message space jitter caused by conventional master-slave redundancy mode, and active-standby switch disturbance lacks
It falls into.
In the present invention, screens redundancy frame method and introduce time response, use while sending out in system operation, connect at any time
Receipts mechanism realizes redundancy, transmitting terminal synchronous message passing, and message largest interval is no more than sending time.And receiving end is according to receiving
The time stab and receiving port of data carry out redundant frame examination.It effectively prevents equal using two buses necessary under current mechanism
Bus redundancy frame can be carried out and screen the validity for judging received data, the poor problem of real-time by receiving data or time-out.
It is without any changes to message format in the present invention, it can be generation directly as CANopen, DeviceNet agreement
The bottom redundancy of a variety of application layer protocols of table realizes that agreement uses, without modifying.
In the present invention, it is to enliven bus that two channels, which no longer divide, which enlivens bus standby bus, realizes redundancy, non-superfluous
Remaining node mixing carry.
In the present invention, redundancy is realized can be in the bus-types such as CAN bus, RS485 bus, PROFIEBUS bus topology
It realizes.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.
Professional further appreciates that, unit described in conjunction with the examples disclosed in the embodiments of the present disclosure
And step, it can be realized with the combination of electronic hardware, software or the two, it can be mutual in order to clearly demonstrate hardware and software
It is transsexual, each exemplary composition and step are generally described according to function in the above description.These functions actually with
Hardware or software mode execute, the specific application and design constraint depending on technical solution.Professional technician can
To use different methods to achieve the described function to each specific application, but this realization is it is not considered that beyond this
The range of invention.
Obviously, those skilled in the art can carry out various modification and variations without departing from spirit of the invention to invention
And range.If in this way, these modifications and changes of the present invention belong to the claims in the present invention and its equivalent technologies range it
Interior, then the invention is also intended to include including these modification and variations.
Claims (8)
1. a kind of CAN bus based redundant system, feature include:
Multiple nodes, each node are connected on CAN bus A and CAN bus B, and each node includes application layer protocol, superfluous
Remaining arbitration layer, CAN controller A, CAN controller B, driver A and driver B, in which:
The redundancy arbitration layer is connect with the application layer protocol；
The CAN controller A and CAN controller B is connect with the redundancy arbitration layer respectively；
The driver A is connect with the CAN bus A and the CAN controller A respectively, the driver B with it is described
CAN bus B is connected with the CAN controller B.
2. CAN bus based redundant system as described in claim 1, which is characterized in that when the node of transmitting terminal passes through institute
When stating CAN controller A and CAN controller B and sending message to the node of receiving end, the node of transmitting terminal starts hair
It send, and tranmitting data register is set, message fails to send successfully such as tranmitting data register time-out, then stops sending, clear to send buffer area；
The node of transmitting terminal during send data in addition to be in reception state, the CAN controller A of the node of receiving end and
After CAN controller B receives message, redundancy arbitration layer is sent a message to, message is uploaded to application layer by redundancy arbitration layer
Agreement, while message is pushed into fifo buffer, wait redundancy arbitration layer to carry out redundancy arbitration；During waiting redundancy arbitration, after
Continuous message continues to send, and until fifo buffer overflows, after receiving redundancy message, redundancy arbitration layer retrieves front and continued message, if
Message is processed, abandons, otherwise, as new Message Processing.
3. CAN bus based redundant system as described in claim 1, which is characterized in that the redundancy arbitration layer, for setting
Determine sending time, setting sends interval time and setting receiving time.
4. CAN bus based redundant system as claimed in claim 3, which is characterized in that the sending time is selected as 5 millis
Second；The transmission interval time is selected as 2 times of sending times；The receiving time selection is consistent with interval time is sent.
5. CAN bus based redundant system as described in claim 1, which is characterized in that the redundancy arbitration layer, for building
Vertical fifo buffer, the message received is judged as that arriving first message is then added timestamp, and is pressed into fifo buffer, and message is overflowed then
Extrusion receives data at first.
6. CAN bus based redundant system as described in claim 1, which is characterized in that the redundancy arbitration layer, for secondary
Whether sanction receives message effective.
7. CAN bus based redundant system as described in claim 1, which is characterized in that in redundancy message transmission process,
Message to be sent is pushed to redundancy arbitration layer by application layer protocol, if the monitoring of redundancy arbitration layer sends interval time less than presetting
Between, then it does not send, exits transmission process, otherwise continue to send, the starting of redundancy arbitration layer sends timing, and message is pushed to CAN
Bus control unit A, CAN controller B, starting are sent, and are exited if CAN bus A and CAN bus B sends message success
Transmission process；If sending failure, continue to send, until sending successfully or sending time is overtime, hair is exited if sending successfully
Journey is passed through, stops sending if time-out, emptying buffer.
8. CAN bus based redundant system as described in claim 1, which is characterized in that, should in redundancy message receive process
Process assumes that CAN controller A receives message, and starting receives timing after CAN controller A receives message, while will disappear
Breath is compared with message in fifo buffer, if there are identical message in fifo buffer, and message satisfaction is total from CAN
The lane controller B and time difference received with current message is less than receiving time, then abandon as redundancy message；If discontented
Foot, then it is assumed that the message is new information, is pressed into fifo buffer, and to application layer committing protocol.
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