CN109639546B - Redundancy system based on CAN bus - Google Patents
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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]
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- H04L12/40006—Architecture of a communication node
- H04L12/40013—Details regarding a bus controller
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- H—ELECTRICITY
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- 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 invention provides a redundancy system based on a CAN bus. The invention can effectively overcome the defects that the dual redundant buses cannot be subjected to mixed mounting and main-standby switching disturbance when adopting the main-standby mode and redundant frame arbitration is carried out in the arbitration domain or the data domain occupation bit section when adopting the mutual standby mode, realizes that the redundant frame discrimination does not need waiting, and further greatly improves the real-time performance of the system. The invention also realizes that the third-party application layer protocol can be used without modification, avoids the problem that only the user-defined protocol can be operated, and enlarges the application range of the redundancy protocol.
Description
Technical Field
The invention relates to a redundant system based on a CAN bus.
Background
With the development of technology, industrial networks are widely used in the fields of industrial automation, ship automation, and vehicle automation. The CAN bus has higher requirements on communication reliability and usability in the fields of vehicle automation and ship automation, and the anti-interference capability of the CAN bus is widely verified as a field bus developed for vehicle application. However, in the field of ship application, the bus is vulnerable to damage due to the harsh environment and the high installation density. The reliability of the CAN bus on a single channel is vulnerable to overall failure when a bus fault occurs. Therefore, the use of the CAN bus in the field of ships mostly adopts a redundancy mode to ensure that when one channel fails, the other channel CAN still maintain communication.
The existing dual redundancy mechanism of the CAN bus mostly adopts a master-slave switching mode, two CAN bus ports of the system are respectively accessed into two bus channels, a controller selects one of the channels as a working bus (Active, for short, a) in a normal state, and the other bus does not transmit data or only transmits state information, which is called a Backup bus (Backup, for short, B). When the A bus communication is failed, the master-slave switching is started by the node on the bus. Before switching, the line B is firstly started by confirming that the fault is a permanent fault and negotiating, so that both the main and standby switches require tens to hundreds of milliseconds for switching time, and real undisturbed switching cannot be achieved. Under the master-slave switching mechanism, if more than two nodes fail, part of the A lines of the nodes fail and part of the B lines of the nodes fail, the integrity of the system is fatally damaged, and the system cannot operate. Under the active-standby switching mechanism, the B line does not transmit data, if the on-line node is a non-redundant node, if the node is mounted on the B line, the data cannot be transmitted, and therefore, the mixed mounting of the redundant node and the non-redundant node is not supported. Therefore, the improvement of dual redundancy availability of the system realized by adopting the main/standby switching mode is limited, and the system operation can still be influenced when a fault occurs. For example, according to the DS307 protocol of the CANopen protocol, it works in a primary/secondary switching mode, and when a primary line fails, a node receiving an error initiates a primary/secondary switching frame, and requests the primary channel to be changed into a secondary channel, and the secondary channel is upgraded into the primary channel. When a receiving fault is detected respectively in a plurality of nodes, the main/standby switching of the bus is frequent, and finally normal communication cannot be performed.
However, in order to realize the discrimination of the redundant frames, the arbitration domain and the data domain are mostly changed, so that the discrimination of the redundant frames is realized. For example, although the dual-bus synchronous transmission mode is adopted in the "onboard dual-redundancy CAN bus communication method" (patent number: CN108023799A), a Redundant Channel Identifier (RCI) is specified in an arbitration domain for marking that message information is the same frame data. For example, "a dual-redundancy CAN bus transmission method" (patent No. CN103840993A) and "a dual-redundancy CAN bus transmission method" (patent No. CN103490966B) refer to the same-receiving method, but they need to allocate messages to the message arbitration field, allocate message types, and use the data field to define the message numbers at the receiving end to perform repeated message screening processing. The double-redundancy CAN bus controller and the message processing method thereof (patent number: CN101282301B) also adopt a message sequencing arbitration mode. In the above modes, the redundant message discrimination is performed by defining a special information domain in an arbitration domain and a data domain, and in the mode, the application layer protocol cannot use the currently widely used common application layer protocol but only can adopt a self-defined protocol, so that the use range of the dual-redundancy mechanism in the mutually master-slave mode is limited.
Disclosure of Invention
The invention aims to provide a redundancy system based on a CAN bus.
In order to solve the above problems, the present invention provides a redundancy system based on a CAN bus, including:
a plurality of nodes, each node is connected to CAN bus A and CAN bus B, each node comprises application layer protocol, redundancy arbitration layer, CAN bus controller A, CAN bus controller B, driver A and driver B, wherein
The redundancy arbitration layer is connected with the application layer protocol;
the CAN bus controller A and the CAN bus controller B are respectively connected with the redundancy arbitration layer;
the driver A is respectively connected with the CAN bus A and the CAN bus controller A, and the driver B is connected with the CAN bus B and the CAN bus controller B.
Further, in the system, when the sending end sends a message to the node of the receiving end through the CAN bus controller A and the CAN bus controller B, the node of the sending end starts the controller A and the controller B to synchronously send the message, starts the sending clock, and stops sending and clears the sending buffer area if the sending clock is out of order and the message is not successfully sent;
after receiving the message, the CAN bus controller A and the CAN bus controller B at the receiving end send the message to a redundancy arbitration layer, the redundancy arbitration layer uploads the message to an application layer protocol after being subjected to redundancy arbitration into an effective message, and meanwhile, the message is pushed into an FIFO buffer area to be used as arbitration data; while waiting for redundant arbitration, subsequent received messages continue to be submitted to the arbitration layer until the arbitration data FIFO buffer overflows.
And the redundancy arbitration layer immediately retrieves the previous message after receiving the message, discards the message if the message is processed, and processes the message as a new message if the message is not processed.
Further, in the above system, the redundancy arbitration layer is configured to set a longest transmission time, set a transmission interval time, and set a longest reception time.
Further, in the above system, the maximum transmission time may be set, in this example, to 5 milliseconds; the sending interval time can be set, and the sending time is 2 times in the embodiment; the longest receive time selection coincides with a transmit interval time.
Further, in the above system, the redundant arbitration layer is configured to establish a FIFO buffer, and when a received message is determined to be a first-come message, a timestamp is added and the message is pushed into the FIFO buffer, and when the message overflows, the first-received data is pushed out.
Further, in the above system, the redundancy arbitration layer is configured to arbitrate whether the received message is valid.
Further, in the system, in the process of sending the redundant message, the application layer protocol pushes the message to be sent to the redundant arbitration layer, and the redundant arbitration layer monitors that if the sending interval is less than the preset sending interval time, the message is not sent, the sending process is exited, otherwise, the message is continuously sent. The redundancy arbitration layer starts sending timing, pushes a message to a CAN bus controller A, CAN bus controller B, starts sending synchronously, and exits the sending process if both the CAN bus A and the CAN bus B successfully send the message; and if the transmission fails, continuing to transmit until the transmission succeeds or the transmission time is overtime, stopping transmitting, emptying a buffer area and waiting for the next transmission.
Further, in the system, in the process of receiving the redundant message, the process assumes that the CAN bus controller a receives the message, the CAN bus controller a starts receiving timing after receiving the message, and simultaneously compares the message with the message in the FIFO buffer, if the same message exists in the FIFO buffer, and the message meets the requirement from the CAN bus controller B and the time difference between the message and the current message is less than the receiving time, the message is discarded as the redundant message; if not, the message is considered as a new message, and is pressed into the FIFO buffer area, and the protocol is submitted to the application layer.
Compared with the prior art, the invention can effectively overcome the defect that the dual redundant bus adopts the main/standby mode: the problem that the system cannot normally communicate and the problem of master-slave switching disturbance caused by the mixed mounting of redundant nodes and non-redundant nodes of the CAN bus in the master-slave mode are solved. The existing mutual backup mode redundancy technology which can effectively overcome the defect that redundant frame arbitration is carried out by occupying bit segments in an arbitration domain or a data domain. The invention effectively avoids the defects of system message interval jitter, main-standby switching disturbance and the like caused by the conventional main-standby redundancy mode, the redundant frame discrimination does not need waiting, and the system real-time performance is improved to the maximum extent. By the invention, the redundancy protocol does not modify messages, the problem of transmitting a common application layer protocol on a redundancy channel is solved, the application layer protocol can be used without modification, the problem that only a user-defined protocol can be operated is avoided, and the application range of the redundancy protocol is expanded. In addition, the invention adopts the first arrival effective and the second arrival redundant mode, immediately judges the effectiveness after receiving the message, processes the effective data in time and can effectively improve the real-time performance of the system.
Drawings
FIG. 1 is a diagram of a CAN bus communication architecture according to an embodiment of the present invention;
FIG. 2 is a functional block diagram of a node according to an embodiment of the present invention;
fig. 3 is a receiving flow chart according to an embodiment of the invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1, the present invention provides a redundancy system based on a CAN bus, including: a plurality of nodes, each node connected to both CAN bus A and CAN bus B, each node comprising an application layer protocol, a redundancy arbitration layer, a CAN bus controller A, CAN, bus controller B, driver A, and driver B, wherein
The redundancy arbitration layer is connected with the application layer protocol;
the CAN bus controller A and the CAN bus controller B are respectively connected with the redundancy arbitration layer;
the driver A is respectively connected with the CAN bus A and the CAN bus controller A, and the driver B is connected with the CAN bus B and the CAN bus controller B.
Here, the present invention is composed of a plurality of nodes and redundant CAN buses connected between the nodes, and as shown in fig. 1, the system is composed of a node 1, a node 2, a node 3 … …, a node n, and a redundant two-channel CAN bus A, CAN bus B. A clock is built in each node in the system, the clock time is optional, and the preferred clock time is the time occupied by the bus to send a complete message, for example: 1 millisecond.
The node is composed of an application layer protocol, a redundancy arbitration layer, a CAN bus controller A, CAN, a bus controller B, a driver A and a driver B, and is shown in figure 2.
The node has both receiving and transmitting functions, and for convenience of description, fig. 2 may decompose the receiving and transmitting functions into a receiving end and a transmitting end, and the transmitting end is in a receiving state except for a data transmitting period.
In an embodiment of the CAN bus-based redundancy system of the present invention, when the sending end sends a message to the node at the receiving end through the CAN bus controller a and the CAN bus controller B, the sending end starts sending synchronously at port A, B, and starts the sending clock synchronously. And if the AB ports are successfully transmitted, the transmission is completed. And if the sending clock is overtime and the port fails to send successfully, stopping sending, and clearing the sending buffer to wait for next sending.
After receiving the message, the CAN bus controller A and the CAN bus controller B of the node at the receiving end send the message to a redundancy arbitration layer, the redundancy arbitration layer conducts redundancy arbitration on the message, effective messages are submitted to an application layer, meanwhile, the message is pushed into an FIFO buffer area, and the redundancy arbitration layer conducts redundancy arbitration; while waiting for redundancy arbitration, subsequent messages continue to be sent until the FIFO buffer overflows.
After receiving the message, the redundancy arbitration layer retrieves the previous message, if the message is a redundancy message, the message is discarded, otherwise, the message is treated as an effective message.
In the embodiment of the redundancy system based on the CAN bus, the redundancy arbitration layer is used for setting the sending time, preferably, the sending time is selected to be 5 milliseconds, namely, one complete message is sent every millisecond, the time required for sending 5 messages is reserved for bus collision; the method is used for setting the sending interval time, preferably, the sending interval time is selected to be 2 times of the sending time, and the system is ensured to reliably receive; the receiving time is used for setting the receiving time, and preferably, the receiving time is selected to be consistent with the sending interval time, so that all messages can be reliably received.
In the embodiment of the redundancy system based on the CAN bus, the redundancy arbitration layer is used for establishing an FIFO buffer area, a timestamp is added when a received message is judged to be a first-come message, the received message is pressed into the FIFO buffer area, and the first received data is extruded when the message overflows.
In an embodiment of the CAN bus based redundancy system of the present invention, the redundancy arbitration layer is configured to arbitrate whether a received message is valid.
In one embodiment of the CAN bus-based redundancy system, in the process of sending the redundancy message, an application layer protocol pushes the message to be sent to a redundancy arbitration layer, the redundancy arbitration layer monitors that if the sending interval time is less than the preset time, the message is not sent and the sending process is exited, otherwise, the sending process is continued, the redundancy arbitration layer starts sending timing, pushes the message to a CAN bus controller A, CAN, the sending is started, and the sending process is exited if both the CAN bus A and the CAN bus B successfully send the message; if the transmission fails, the transmission is continued until the transmission succeeds or the transmission time is overtime, if the transmission succeeds, the transmission process is quitted, if the transmission time is overtime, the transmission is stopped, and a buffer area is emptied.
Therefore, the data time difference on the two buses cannot exceed the transmission time. The message sending time difference between two identical arbitration domains is not less than the sending time interval, and the data sending flow is shown as the sending end in fig. 2.
In one embodiment of the redundancy system based on the CAN bus, in the process of receiving the redundancy message, the CAN bus controller A is supposed to receive the message, the CAN bus controller A starts receiving timing after receiving the message, meanwhile, the message is compared with the message in the FIFO buffer area, if the same message exists in the FIFO buffer area, and the message meets the requirement from the CAN bus controller B and the time difference between the message and the current message is less than the receiving time, the message is discarded as the redundancy message; if not, the message is considered as a new message, and is pressed into the FIFO buffer area, and the protocol is submitted to the application layer.
Here, the received data stream is as shown in fig. 2 at the receiving end, and the flow is as shown in fig. 3.
The invention CAN effectively overcome the defect that the dual-redundancy bus adopts a main/standby mode, avoid the problems that part of nodes of the system CAN not normally communicate and the main/standby switching disturbance is caused by the mixed mounting of redundant non-redundancy nodes of the CAN bus in the main/standby mode, and also effectively overcome the defect that the prior art carries out the arbitration of the redundancy frames through the bit occupation section of the arbitration domain or the data domain in the mutual standby mode. The invention effectively avoids the defects of system message interval jitter, main-standby switching disturbance and the like caused by the conventional main-standby redundancy mode, the redundant frame discrimination does not need waiting, and the system real-time performance is improved to the maximum extent. By the invention, the redundancy protocol does not modify messages, the problem of transmitting a common application layer protocol on a redundancy channel is solved, the application layer protocol can be used without modification, the problem that only a user-defined protocol can be operated is avoided, and the application range of the redundancy protocol is expanded. In addition, the invention adopts the first arrival effective and the second arrival redundant mode, immediately judges the effectiveness after receiving the message, processes the effective data in time and can effectively improve the real-time performance of the system.
In the invention, two channels are mutually main and standby, and no active channel and backup channel are divided. Each node is composed of two independent CAN ports formed by two independent controllers and independent transceivers. The redundancy is realized in a mode of simultaneous transmission and receiving at any time in the operation process of the bus, and the defects of system message interval jitter and master-slave switching disturbance caused by a conventional master-slave redundancy mode are effectively avoided.
In the invention, the method for discriminating redundant frames introduces time characteristics, simultaneous transmission is adopted in the system operation process, a random receiving mechanism is adopted to realize redundancy, a transmitting end synchronously transmits messages, and the maximum interval of the messages does not exceed the transmitting time. And the receiving end discriminates the redundant frame according to the time stamp of the received data and the receiving port. The problem that the validity of the received data can be judged by screening redundant frames of the bus only by adopting the two buses to receive the data or overtime under the existing mechanism and the real-time performance is poor is effectively solved.
In the invention, the message format is not changed, and the method can be directly used as a bottom layer redundancy realization protocol of various application layer protocols represented by CANopen and DeviceNet protocols without modification.
In the invention, the two channels are not divided into active bus standby buses and are active buses, so that the hybrid mounting of redundant and non-redundant nodes is realized.
In the invention, the redundancy CAN be realized in bus type topologies such as a CAN bus, an RS485 bus, a PROFIEBUS bus and the like.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
Those of skill would further appreciate that the various illustrative components and steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (7)
1. A CAN bus based redundancy system, comprising:
a plurality of nodes, each node is connected respectively on CAN bus A and CAN bus B, and each node includes application layer protocol, redundant arbitration layer, CAN bus controller A, CAN bus controller B, driver A and driver B, wherein:
the redundancy arbitration layer is connected with the application layer protocol;
the CAN bus controller A and the CAN bus controller B are respectively connected with the redundancy arbitration layer;
the driver A is respectively connected with the CAN bus A and the CAN bus controller A, and the driver B is connected with the CAN bus B and the CAN bus controller B;
the node has both receiving and sending functions, the receiving and sending functions of the node are decomposed into a receiving end and a sending end, and the sending end is in a receiving state except for a data sending period;
when the CAN bus controller A and the CAN bus controller B of the node at the sending end send messages to the node at the receiving end, the sending end synchronously starts sending at the CAN bus controller A, CAN and synchronously starts a sending clock, and if the CAN bus controller A, CAN and the CAN bus controller B both successfully send, the sending is finished; if the sending clock is overtime and the CAN bus controller A and/or the CAN bus controller B fails to send successfully, stopping sending, and clearing a sending buffer zone to wait for next sending;
after receiving the message, the CAN bus controller A and the CAN bus controller B of the node at the receiving end send the message to a redundancy arbitration layer, the redundancy arbitration layer pushes the message into a FIFO buffer area, the redundancy arbitration layer carries out redundancy arbitration on the message to obtain an effective message, and the redundancy arbitration layer submits the effective message to an application layer; waiting for the redundant arbitration period, and continuously sending the subsequent messages until the FIFO buffer overflows;
after receiving the message, the redundancy arbitration layer retrieves the previous message to carry out redundancy arbitration, if the message is the redundancy message, the message is discarded, otherwise, the message is treated as the effective message.
2. The CAN-bus based redundancy system of claim 1, wherein the redundancy arbitration layer is configured to set a transmission time, set a transmission interval time, and set a reception time.
3. The CAN-bus based redundancy system of claim 2, wherein the transmission time is selected to be 5 milliseconds; the sending interval time is selected to be 2 times of sending time; the receive timing is consistent with the transmit interval timing.
4. The CAN-bus based redundancy system of claim 1, wherein the redundancy arbitration layer is configured to create a FIFO buffer, wherein a received message is time stamped if the message is first arrived and pushed into the FIFO buffer, and wherein a message overflow extrudes the first received data.
5. The CAN-bus based redundancy system of claim 1, wherein the redundancy arbitration layer is configured to arbitrate whether a received message is valid.
6. The CAN-bus-based redundancy system of claim 1, wherein in a redundancy message transmission process, an application layer protocol pushes a message to be transmitted to a redundancy arbitration layer, the redundancy arbitration layer monitors that if a transmission interval time is less than a preset time, the message is not transmitted and the transmission process is exited, otherwise the transmission is continued, the redundancy arbitration layer starts transmission timing, pushes the message to a CAN bus controller A, CAN, the transmission is started, and the transmission process is exited if both the CAN bus a and the CAN bus B successfully transmit the message; if the transmission fails, the transmission is continued until the transmission succeeds or the transmission time is overtime, if the transmission succeeds, the transmission process is quitted, if the transmission time is overtime, the transmission is stopped, and a buffer area is emptied.
7. The CAN-bus based redundancy system of claim 1, wherein in the redundancy message reception process, assuming that the CAN-bus controller a receives the message, the CAN-bus controller a starts a reception timing after receiving the message, and simultaneously compares the message with the message in the FIFO buffer, and if the same message exists in the FIFO buffer and the message is satisfied from the CAN-bus controller B and the time difference from the current message reception is smaller than the reception time, discards the message as the redundancy message; if not, the message is considered as a new message, and is pressed into the FIFO buffer area, and the protocol is submitted to the application layer.
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| DE102019207174A1 (en) | 2019-05-16 | 2020-11-19 | Robert Bosch Gmbh | Transmitting / receiving device and communication control device for a subscriber station of a serial bus system and method for communication in a serial bus system |
| CN112398672B (en) * | 2019-08-16 | 2023-07-25 | 北京新能源汽车股份有限公司 | Message detection method and device |
| CN110979393A (en) * | 2019-12-14 | 2020-04-10 | 中车大连电力牵引研发中心有限公司 | Programmable logic control system applied to subway train |
| CN111614532B (en) * | 2020-05-13 | 2022-04-12 | 湖北三江航天万峰科技发展有限公司 | CAN redundant communication system based on DSP |
| CN114194121B (en) * | 2020-09-02 | 2023-05-12 | 宇通客车股份有限公司 | Auxiliary driving system and vehicle |
| CN111786866B (en) * | 2020-09-04 | 2020-11-17 | 成都运达科技股份有限公司 | Redundant communication method for seamless switching of multiple communication buses |
| CN114500157B (en) * | 2022-04-07 | 2022-07-29 | 浙江中控研究院有限公司 | Redundancy implementation system based on CAN gateway, electronic device and computer readable storage medium |
| CN114726676A (en) * | 2022-04-25 | 2022-07-08 | 宁波天擎航天科技有限公司 | Method for processing redundant message in CAN bus dual-channel backup |
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