CN109981435B - Gateway and communication system based on CAN-ModBus to MQTT - Google Patents
Gateway and communication system based on CAN-ModBus to MQTT Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40052—High-speed IEEE 1394 serial bus
- H04L12/40097—Interconnection with other networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/66—Arrangements for connecting between networks having differing types of switching systems, e.g. gateways
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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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- 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
- H04L2012/40228—Modbus
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L2212/00—Encapsulation of packets
Abstract
According to the gateway for converting the CAN-ModBus into the MQTT, the CAN interface receives or sends data of external equipment through the CAN bus and completes conversion between the CAN protocol format and the ModBus protocol format. The ModBus protocol unit completes the conversion between the ModBus protocol format and the MQTT protocol format and receives or sends data to the MQTT proxy server. The gateway combines the advantages of the CAN bus and the MQTT and meets the requirement of real-time communication. The CAN bus CAN effectively solve the problem of bus data collision when multiple nodes are in simultaneous communication, and the MQTT CAN realize data communication through a message subscribing and publishing mechanism and is convenient to deploy in a cross-network environment.
Description
Technical Field
The invention belongs to the technical fields of industrial automatic control, building intelligent control and the like, and particularly relates to a gateway and a communication system based on CAN-ModBus-to-MQTT conversion.
Background
In modern industrial engineering, computers play an increasingly important role in the field of control, and various instruments, microcomputer systems and the like in industrial control provide communication protocols with the computers, so that great convenience is provided for the design of computer control systems.
Modbus is a serial communication protocol. The Modbus protocol has become an industry standard for industrial communication protocols and is a common connection method between industrial electronic devices. Modbus is more widely used than other communication protocols because of its public publication and advantages such as no copyright requirement, easy deployment and maintenance, no restrictions on modifying bits or bytes local to the mobile, etc.
However, for the ModBus protocol based on the fieldbus RS485, data collision on the bus can be caused when multiple nodes communicate simultaneously. Although the ModBus _ TCP/IP protocol enables ethernet communication, its single communication mode makes it difficult to expand deployment in a cross-network environment.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the gateway and the communication system based on the conversion from CAN-ModBus to MQTT, which CAN effectively solve the problem of bus data collision during simultaneous communication of multiple nodes.
In a first aspect, a gateway for transferring MQTT based on CAN-ModBus comprises:
a plurality of CAN interfaces: the device comprises a CAN bus, a ModBus protocol and a controller, wherein the CAN bus is used for being connected with external equipment, receiving data which are from the external equipment and packaged in a CAN protocol format through the CAN bus, and converting the data into ModBus to-be-processed data packaged in a ModBus protocol format; the device is also used for converting ModBus encapsulated data into data encapsulated in a CAN protocol format and sending the data to external equipment;
ModBus protocol unit: the data processing system is used for analyzing the ModBus data to be processed, repackaging the analyzed data according to an MQTT protocol format to obtain MQTT packaged data, and sending the MQTT packaged data to an MQTT proxy server as an MQTT client; the data processing method is also used for subscribing MQTT to-be-processed data which is from the MQTT proxy server and packaged in an MQTT protocol format as an MQTT client, analyzing the MQTT to-be-processed data, re-packaging the analyzed data according to a ModBus protocol format to obtain ModBus packaged data, and sending the ModBus packaged data to the CAN interface.
Preferably, the ModBus protocol unit is specifically configured to:
and the ModBus protocol unit analyzes the ModBus data to be processed or the MQTT data to be processed to obtain an external device address, a register address and data stored in a register.
Preferably, the ModBus protocol unit is used as an MQTT client and communicates with the MQTT proxy server through a message publishing mechanism or a message subscribing mechanism.
Preferably, the CAN interface is specifically configured to:
creating a one-way annular linked list, wherein the node space of the one-way annular linked list is 8 bytes;
when a plurality of data packets are received through the CAN bus, judging an initial packet, a middle packet and a stop packet in the data packets according to the ID of the CAN protocol extension frame, and sequentially putting the received data packets into the nodes of the one-way annular linked list;
and reading data in the nodes of the unidirectional annular linked list, and analyzing according to a ModBus protocol format to obtain ModBus to-be-processed data.
Preferably, the CAN interface is specifically configured to:
when ModBus encapsulation data containing modified register data are received, the modified register data are encapsulated in a CAN protocol format again, stored in the nodes of the one-way annular linked list and sent to external equipment through a CAN bus.
Preferably, the ModBus protocol unit is specifically configured to:
the ModBus protocol unit analyzes the ModBus data to be processed to obtain a register address;
converting the register address and data stored in the register address into character strings, splicing by using the &' number as a segmentation character, and segmenting the data stored in each register address by using commas to obtain the MQTT encapsulated data;
and sending the MQTT packaging data to an MQTT proxy server through a message publishing mechanism.
Preferably, the first and second electrodes are formed of a metal,
the ModBus protocol unit is specifically configured to:
receiving the MQTT data to be processed through a message subscription mechanism;
analyzing the message subject name in the MQTT data to be processed to obtain an external device address, a register address and the number of registers;
and encapsulating the same register address and corresponding data into a ModBus protocol packet in the analyzed data to obtain the ModBus encapsulated data.
In a second aspect, a communication system includes:
n external devices, N mobile terminals, an MQTT proxy server and the CAN-ModBus-to-MQTT gateway according to claim 2;
the gateway is connected with the external equipment through a CAN interface based on conversion from CAN-ModBus to MQTT;
the MQTT proxy server receives the data of the mobile terminal through a message publishing mechanism; receiving data of the MQTT proxy server through a message subscription mechanism based on a CAN-ModBus-to-MQTT gateway;
the mobile terminal receives data of the MQTT proxy server through a message subscription mechanism, and the MQTT proxy server receives data converted into an MQTT gateway based on the CAN-ModBus through a message publishing mechanism.
According to the technical scheme, the gateway and the communication system based on the CAN-ModBus-MQTT transfer provided by the invention combine the advantages of the CAN bus and the advantages of the MQTT and meet the real-time communication requirement. The CAN bus CAN effectively solve the problem of bus data collision when multiple nodes are in simultaneous communication, and the MQTT CAN realize data communication through a message subscribing and publishing mechanism and is convenient to deploy in a cross-network environment.
Drawings
In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
Fig. 1 is a schematic structural diagram of a gateway provided in the first embodiment.
Fig. 2 is a schematic diagram illustrating a conversion between a CAN protocol format and a ModBus protocol format according to an embodiment.
Fig. 3 is a schematic diagram illustrating a conversion from the ModBus protocol format to the MQTT protocol format according to a third embodiment.
Fig. 4 is a schematic diagram illustrating a conversion of the MQTT protocol format to the ModBus protocol format according to the third embodiment.
Fig. 5 is a block diagram of a communication protocol according to a fourth embodiment.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only examples, and the protection scope of the present invention is not limited thereby. It is to be noted that, unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which the invention pertains.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to a determination" or "in response to a detection". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
The first embodiment is as follows:
a CAN-ModBus-to-MQTT gateway, see fig. 1, comprising:
a plurality of CAN interfaces: the device comprises a CAN bus, a ModBus protocol and a controller, wherein the CAN bus is used for being connected with external equipment, receiving data which are from the external equipment and packaged in a CAN protocol format through the CAN bus, and converting the data into ModBus to-be-processed data packaged in a ModBus protocol format; the device is also used for converting ModBus encapsulated data into data encapsulated in a CAN protocol format and sending the data to external equipment;
specifically, referring to fig. 2, the CAN interface performs conversion between the CAN protocol format and the ModBus protocol format. Two CAN interfaces may be provided, such as CAN1 and CAN2 shown in fig. 1. The gateway is used as a host end of a ModBus protocol, the external equipment is used as a slave end of the ModBus protocol, and peripheral equipment is abbreviated as peripheral equipment in the attached drawing of the external equipment. The external device may be a device supporting a CAN-ModBus protocol, and may be a hardware device such as a PLC, a controller, or a sensor supporting the CAN-ModBus protocol.
ModBus protocol unit: the data processing system is used for analyzing the ModBus data to be processed, repackaging the analyzed data according to an MQTT protocol format to obtain MQTT packaged data, and sending the MQTT packaged data to an MQTT proxy server as an MQTT client; the data processing method is also used for subscribing MQTT to-be-processed data which is from the MQTT proxy server and packaged in an MQTT protocol format as an MQTT client, analyzing the MQTT to-be-processed data, re-packaging the analyzed data according to a ModBus protocol format to obtain ModBus packaged data, and sending the ModBus packaged data to the CAN interface.
Specifically, the ModBus protocol unit analyzes the ModBus data to be processed or the MQTT data to be processed to obtain an external device address, a register address and data. Wherein the data is the data correspondingly stored in the register address.
The gateway can be set as an ARM-based embedded hardware device. The gateway can also be externally provided with an RJ45 interface. The gateway is used as a host end of the ModBus protocol and actively sends a read data request or a write data request to a slave end of the ModBus protocol. The external device is used as a slave end of the ModBus protocol and responds to a request of reading and writing data of the host end.
Preferably, the ModBus protocol unit is used as an MQTT client and communicates with the MQTT proxy server through a message publish/subscribe mechanism.
For example: when the gateway receives data sent by external equipment through the CAN bus, the data is converted into data packaged in a ModBus protocol format, the address, the register address and the data of the external equipment are analyzed, and then the data are packaged again according to an MQTT protocol format. The gateway sends the data to the MQTT proxy server through a message publishing mechanism. In this way, the MQTT client running on the mobile terminal can acquire the register address and data of the external device from the MQTT proxy server through a message subscription mechanism.
When a user wants to modify external device data through a certain MQTT client of the mobile terminal, the address, the register address and the data of the external device need to be packaged according to the MQTT format, the data are sent to the MQTT proxy server through a message publishing mechanism, at the moment, the gateway CAN acquire data content through a message subscribing mechanism, the address, the register address and the data of the external device are analyzed, and then the data are packaged into a Modbus format again and sent to the external device through a CAN bus.
The gateway combines the advantages of the CAN bus and the MQTT and meets the requirement of real-time communication. The CAN bus CAN effectively solve the problem of bus data collision when multiple nodes are in simultaneous communication, and the MQTT CAN realize data communication through a message subscribing and publishing mechanism and is convenient to deploy in a cross-network environment.
Example two:
the second embodiment is based on the first embodiment, and adds the following differences:
because the CAN protocol CAN transmit effective data at one time at most 8 bytes, the length of the effective data transmitted and received at one time by the gateway through the CAN bus cannot exceed 8 bytes, and the ModBus protocol has no limit on the data length. This creates a length disparity between protocols.
Therefore, in the gateway, the CAN interface is specifically configured to:
creating a one-way annular linked list, wherein the node space of the one-way annular linked list is 8 bytes;
specifically, the number of nodes in the unidirectional circular linked list is configurable, the number range is 1 to 10, and the default number is 1. The space size of the nodes is 8 bytes, so that each node just stores the longest effective data which CAN be transmitted by the CAN protocol at one time.
When a plurality of data packets are received through the CAN bus, judging an initial packet, a middle packet and a stop packet in the data packets according to the ID of the CAN protocol extension frame, and sequentially putting the received data packets into the nodes of the one-way annular linked list;
and reading data in the nodes of the unidirectional annular linked list, and analyzing according to a ModBus protocol format to obtain ModBus to-be-processed data.
Specifically, if the gateway wants to request to continuously read the data of the plurality of registers through the ModBus, the data responded by the external device is divided into a plurality of data packets and sent to the gateway through the CAN bus, and the gateway judges whether each data packet belongs to an initial packet, a middle packet or a stop packet according to the ID of the CAN protocol extension frame. Bits 0-bit7 in the extension frame ID are packet sequence numbers, and are incremented from 0, with 0XFF indicating an end packet. The gateway puts the received data packets into the nodes of the unidirectional ring linked list in sequence. When the gateway reads data, the data is extracted from the nodes in the unidirectional circular linked list, and the data of each register is analyzed according to the ModBus protocol format.
Preferably, the CAN interface is specifically configured to:
when ModBus encapsulation data containing modified register data are received, the modified register data are encapsulated in a CAN protocol format again, stored in the nodes of the one-way annular linked list and sent to external equipment through a CAN bus.
Specifically, if the gateway needs to modify the data of multiple registers in the external device through the ModBus protocol, each register and the corresponding data need to be encapsulated into a CAN protocol format, and the CAN protocol format is put into a circular linked list and sent to the external device through the CAN interface.
For the sake of brief description, the method provided by the embodiment of the present invention may refer to the corresponding contents in the foregoing method embodiments.
Example three:
example three on the basis of other examples, the following contents are added:
referring to fig. 3, the ModBus protocol unit is specifically configured to:
the ModBus protocol unit analyzes the ModBus data to be processed to obtain a register address;
converting the register address and data stored in the register address into character strings, splicing by using the &' number as a segmentation character, and segmenting the data stored in each register address by using commas to obtain the MQTT encapsulated data;
and sending the MQTT packaging data to an MQTT proxy server through a message publishing mechanism.
Specifically, the gateway serves as a ModBus host, a register address of data to be requested of the gateway needs to be stored, the register address and corresponding data are converted into character strings after received register data are analyzed, and the character strings are spliced together by taking the "&" number as a divider. Such as "512 &10," indicating that the data content of the register with address 512 is 10. The data of a plurality of continuous registers are divided by commas, such as 512&10,518&30,520&19, which indicates that the data content of the register addresses 512, 518 and 520 are 10, 30 and 19 respectively. After the character strings are spliced, the data strings are placed in a data area of an MQTT protocol, and then the data are sent to an MQTT proxy server through a message publishing mechanism.
Referring to fig. 4, the ModBus protocol unit is specifically configured to:
receiving the MQTT data to be processed through a message subscription mechanism;
analyzing the message subject name in the MQTT data to be processed to obtain an external device address, a register address and the number of registers;
and encapsulating the same register address and corresponding data into a ModBus protocol packet in the analyzed data to obtain the ModBus encapsulated data.
Specifically, after the gateway subscribes to the message, namely after receiving the data to be processed of the MQTT, the gateway judges a message topic name, wherein the message topic name comprises an external device address, a register address and the number of registers. When the number of registers contained in the message topic name is consistent with the number of actual data contained in the subscribed topic message, the data stored in the registers and the registers can be analyzed.
For example, the message topic name is defined as "A1R 512N 3", where "A1" indicates that the peripheral address is 1, "R512" indicates that the register start address is 512, and "N3" indicates that the number of registers is 3. If the data subscribed to the theme is '123, 456, 789', the peripheral device with the device address of 1 is indicated, the data content of the register address 512 is 123, the data of the register address 513 is 456, and the data content of the register address 514 is 789. Thus, the gateway encapsulates a register and corresponding data into a ModBus protocol packet according to the subscribed data, and the length of each ModBus protocol packet is 8 bytes. Still taking "A1R 512N 3" as an example, after subscribing to the data of the theme through the MQTT message mechanism, the data are packaged into 3 ModBus protocol packets, and then the 3 ModBus protocol packets are respectively sent to the external devices through the CAN interface.
For the sake of brief description, the method provided by the embodiment of the present invention may refer to the corresponding contents in the foregoing method embodiments.
Example four:
a communication system, see fig. 5, comprising:
n external devices, N mobile terminals, an MQTT proxy server and the gateway for transferring MQTT based on CAN-ModBus;
the gateway is connected with the external equipment through a CAN interface based on conversion from CAN-ModBus to MQTT;
the MQTT proxy server receives the data of the mobile terminal through a message publishing mechanism; receiving data of the MQTT proxy server through a message subscription mechanism based on a CAN-ModBus-to-MQTT gateway;
the mobile terminal receives data of the MQTT proxy server through a message subscription mechanism, and the MQTT proxy server receives data converted into an MQTT gateway based on the CAN-ModBus through a message publishing mechanism.
The system combines the advantages of the CAN bus and the MQTT and meets the requirement of real-time communication. The CAN bus CAN effectively solve the problem of bus data collision when multiple nodes are in simultaneous communication, and the MQTT CAN realize data communication through a message subscribing and publishing mechanism and is convenient to deploy in a cross-network environment.
For the sake of brief description, the system provided by the embodiment of the present invention may refer to the corresponding content in the foregoing method embodiments.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.
Claims (5)
1. A gateway based on CAN-ModBus to MQTT is characterized by comprising:
a plurality of CAN interfaces: the device comprises a CAN bus, a ModBus protocol and a controller, wherein the CAN bus is used for being connected with external equipment, receiving data which are from the external equipment and packaged in a CAN protocol format through the CAN bus, and converting the data into ModBus to-be-processed data packaged in a ModBus protocol format; the device is also used for converting ModBus encapsulated data into data encapsulated in a CAN protocol format and sending the data to external equipment;
ModBus protocol unit: the data processing system is used for analyzing the ModBus data to be processed, repackaging the analyzed data according to an MQTT protocol format to obtain MQTT packaged data, and sending the MQTT packaged data to an MQTT proxy server as an MQTT client; the system is also used as an MQTT client to subscribe MQTT data to be processed which is from an MQTT proxy server and packaged in an MQTT protocol format, analyze the MQTT data to be processed, repackage the analyzed data according to a ModBus protocol format to obtain ModBus packaged data, and send the ModBus packaged data to a CAN interface;
the CAN interface is specifically configured to:
creating a one-way annular linked list, wherein the node space of the one-way annular linked list is 8 bytes;
when a plurality of data packets are received through the CAN bus, judging an initial packet, a middle packet and a stop packet in the data packets according to the ID of the CAN protocol extension frame, and sequentially putting the received data packets into the nodes of the one-way annular linked list;
reading data in the nodes of the unidirectional annular linked list, and analyzing according to a ModBus protocol format to obtain ModBus to-be-processed data;
the CAN interface is specifically configured to:
when ModBus encapsulation data containing modified register data are received, repackaging the modified register data into a CAN protocol format, storing the CAN protocol format into the nodes of the one-way annular linked list, and sending the CAN protocol format to external equipment through a CAN bus;
the ModBus protocol unit is specifically configured to:
the ModBus protocol unit analyzes the ModBus data to be processed to obtain a register address;
converting the register address and data stored in the register address into character strings, splicing by using the &' number as a segmentation character, and segmenting the data stored in each register address by using commas to obtain the MQTT encapsulated data;
and sending the MQTT packaging data to an MQTT proxy server through a message publishing mechanism.
2. The CAN-ModBus to MQTT gateway of claim 1, wherein the ModBus protocol unit is specifically configured to:
and the ModBus protocol unit analyzes the ModBus data to be processed or the MQTT data to be processed to obtain an external device address, a register address and data stored in a register.
3. The CAN-ModBus to MQTT based gateway of claim 2,
the ModBus protocol unit is used as an MQTT client and is communicated with the MQTT proxy server through a message publishing mechanism or a message subscribing mechanism.
4. The CAN-ModBus to MQTT based gateway of claim 3,
the ModBus protocol unit is specifically configured to:
receiving the MQTT data to be processed through a message subscription mechanism;
analyzing the message subject name in the MQTT data to be processed to obtain an external device address, a register address and the number of registers;
and encapsulating the same register address and corresponding data into a ModBus protocol packet in the analyzed data to obtain the ModBus encapsulated data.
5. A communication system, comprising:
n external devices, N mobile terminals, an MQTT proxy server and the CAN-ModBus-to-MQTT gateway according to claim 2;
the gateway is connected with the external equipment through a CAN interface based on conversion from CAN-ModBus to MQTT;
the MQTT proxy server receives the data of the mobile terminal through a message publishing mechanism; receiving data of the MQTT proxy server through a message subscription mechanism based on a CAN-ModBus-to-MQTT gateway;
the mobile terminal receives data of the MQTT proxy server through a message subscription mechanism, and the MQTT proxy server receives data converted into an MQTT gateway based on the CAN-ModBus through a message publishing mechanism.
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| CN112769741B (en) * | 2019-11-06 | 2023-04-07 | 中移物联网有限公司 | Message communication method and electronic equipment |
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