CN110077279A - CAN bus data transmission method - Google Patents
CAN bus data transmission method Download PDFInfo
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- CN110077279A CN110077279A CN201910378563.7A CN201910378563A CN110077279A CN 110077279 A CN110077279 A CN 110077279A CN 201910378563 A CN201910378563 A CN 201910378563A CN 110077279 A CN110077279 A CN 110077279A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
- B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Automation & Control Theory (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
- Small-Scale Networks (AREA)
Abstract
The embodiment of the invention discloses a kind of CAN bus data transmission methods, comprising: construct message ID, index, amount field and data recorded area are established in message ID, wherein, the number that index record message ID has been sent, the amount field record the total number N of data to be transmitted1；No. 0 to No. (n-1)th data to be transmitted is obtained, and is recorded in data recorded area；Send No. 0 to No. (n-1)th data to be transmitted, wherein n is the number of the data to be transmitted of message ID single transmission, n >=1；When transmission times is N to the message ID recorded in index2When, obtain N2* No. n to (N2+ 1) * n-1 data to be transmitted, and it is recorded in data recorded area, N1≥N2≥1；Based on same message ID, N is sent2* No. n to (N2+ 1) * n-1 data to be transmitted.CAN controller protocol stack COM layer identification code content volume can be reduced using the embodiment of the present invention, avoid the occurrence of the problem of program's memory space deficiency, guarantee data stablizes transmission.
Description
Technical field
The present invention relates to technical field of data transmission, and in particular to a kind of CAN bus data transmission method.
Background technique
For new energy electric motor vehicle at mainstream development trend, what the high-tension battery packet on nearly all vehicle used is all high
The lithium battery of energy density, due to the particularity of lithium battery electric core, the rated differential head between positive and negative anodes is in 3.7v or so, in order to suitable
The work (such as motor driven systems, charging system, compressor high tension apparatus) of other components on electric vehicle is answered, and is improved
Energy conversion efficiency generally requires the series-parallel of many battery cores, to improve voltage platform, to improve energy conversion efficiency.
In use, BMS (battery management system) needs to monitor the monomer voltage of each battery core group.The prior art
In, the data transmission between battery pack and BMS relies primarily on CAN bus.Data in CAN bus are all based on message ID biography
It is defeated.BMS acquires one group of monomer voltage and needs 16 bit values, since every frame message ID only has 64, every frame message ID is most
4 groups of monomer voltages can only be transmitted.However, electric vehicle is typically arranged with multiple battery packs, each battery pack includes several electricity again
Core group, therefore, the received message ID quantity of BMS can be very more, huge difficulty brought to bus protocol formulation, for using
The node of the BMS of standard protocol stack and other reception BMS information, as received message ID increases and increases COM layers
Capacity, in fact it could happen that the problem of program's memory space deficiency.
Summary of the invention
In view of this, the embodiment of the present invention proposes a kind of CAN bus data transmission method, to solve the above technical problems.
The embodiment of the present invention proposes a kind of CAN bus data transmission method comprising: building message ID, in message ID
Establish index, amount field and data recorded area, wherein the number that index record message ID has been sent, the amount field record to
Transmit the total number N of data1；No. 0 to No. (n-1)th data to be transmitted is obtained, and is recorded in data recorded area；Send the 0th
Number to No. (n-1)th data to be transmitted, wherein n is the number of the data to be transmitted of message ID single transmission, n >=1；When in index
Transmission times is N to the message ID of record2When, obtain N2* No. n to (N2+ 1) * n-1 data to be transmitted, and it is recorded in number
According to recording areas, N1≥N2≥1；Based on same message ID, N is sent2* No. n to (N2+ 1) * n-1 data to be transmitted, can
Reduce the code cubage of data to be transmitted, reduce communications protocol content volume, reduces multiple battery pack combination configuration brings association
Complicated redundancy is discussed, not only compatible more battery pack configurations, realize the transmission of greater number monomer, and reduce CAN control
Device protocol stack COM layer identification code content volume, avoids the occurrence of the problem of program's memory space deficiency, and guarantee data stablizes transmission.
Optionally, before building message ID, further includes: the number for determining the data to be transmitted of message ID single transmission, it can
The number for rationally determining the data to be transmitted that transmission is entrained every time, utilizes message ID to greatest extent.
Optionally, the number for calculating the data to be transmitted of message ID single transmission includes: according to single data to be transmitted
Parameter determines the first byte number shared by single data to be transmitted；Calculate occupied second byte number of total number；Obtain message
The total amount of byte of ID；According to the first byte number, the second byte number, total amount of byte and total number, message ID single transmission is determined
Data to be transmitted maximum quantity；Minimum number required for completing whole data to be transmitted is determined according to maximum quantity；Root
The shared third byte number of index is determined according to minimum number；According to total amount of byte, the first byte number, the second byte number and third word
Joint number determines the number n of the data to be transmitted of message ID single transmission.
Optionally, the parameter of single data to be transmitted includes numberical range and accuracy, more accurately to determine individually
Byte number shared by data to be transmitted.
Optionally, the first byte number shared by single data to be transmitted is 1 or 2, to meet requirement of engineering.
Optionally, occupied second byte number of total number is 1 or 2, to meet requirement of engineering.
Optionally, third byte number is 1 or 2, to meet requirement of engineering.
Optionally, before transmission data to be transmitted, further includes: whether contain blank byte in monitoring data recording areas；If
Have, fills all blank bytes.By being filled to blank byte, to guarantee that data are complete in message ID, keep its suitable
Benefit is sent.
Optionally, if so, all blank bytes of filling, comprising: if there is free wrongly written or mispronounced character section, monitor the blank byte
Quantity whether be the first byte number integral multiple；If integral multiple, then all blank bytes are divided into integer group, using
Every group of blank byte of Character Filling of one byte number length；If non-integral multiple, then by the number of the first byte number and blank byte
Amount is compared, if the quantity of blank byte, less than the first byte number, the character that single byte length can be used is filled often one by one
A blank byte；If the quantity of blank byte is greater than the first byte number, all blank bytes are divided into integer group blank word
Section and remainder bytes, integer group blank byte described in the Character Filling with the first byte number length；Again with single byte length
Character Filling residue blank byte.By monitoring the quantity of blank byte, and compared with the first byte number of data to be transmitted, no
The charging efficiency of blank byte also can be improved in the volume that code can only be saved, and saves the time, reduces cost.
CAN bus data transmission method provided in an embodiment of the present invention is based on same message ID, using multiframe message form
Data to be transmitted is gradually sent, the code cubage of data to be transmitted can be reduced, reduces communications protocol content volume, is reduced multiple
The redundancy of battery pack combination configuration bring agreement complexity, not only compatible more battery pack configurations, realize greater number monomer
Transmission, and reduce CAN controller protocol stack COM layer identification code content volume, avoid the occurrence of that program's memory space is insufficient to ask
Topic, guarantee data stablizes transmission.
Detailed description of the invention
Fig. 1 is the flow chart of the CAN bus data transmission method of the embodiment of the present invention.
Fig. 2 is the composition schematic diagram of the message ID of the embodiment of the present invention.
Fig. 3 is the flow chart of the S1 of the embodiment of the present invention.
Specific embodiment
Below in conjunction with attached drawing and specific embodiment, technical solution of the present invention is described in detail.It is wherein identical
Components are presented with like reference characters.It should be noted that word "front", "rear" used in the following description, " left side ",
" right side ", "up" and "down" refer to that the direction in attached drawing, word "inner" and "outside" are referred respectively to towards or away from particular elements
The direction of geometric center.
Fig. 1 shows the flow chart of CAN bus data transmission method provided in an embodiment of the present invention, as shown in Figure 1, this hair
The CAN bus data transmission method that bright embodiment provides comprising:
S1 constructs message ID；
As shown in Fig. 2, single message ID has 8 bytes, respectively byte 100-800.In message ID establish index,
Amount field and data recorded area.
Wherein, the amount field records the total number N of data to be transmitted1, number that index record message ID has been sent.
S2 obtains No. 0 to No. (n-1)th data to be transmitted, and is recorded in data recorded area；
S3 sends No. 0 to No. (n-1)th data to be transmitted；
Wherein, n is the number of the data to be transmitted of message ID single transmission, n >=1.
S4, when transmission times is N to the message ID recorded in index2When, obtain N2* No. n to (N2+ 1) * n-1 to
Data are transmitted, and are recorded in data recorded area；
Wherein, N1≥N2≥1。N2Before sending data to be transmitted every time, automatically plus 1.
S5 is based on same message ID, sends N2* No. n to (N2+ 1) * n-1 data to be transmitted.
Now for transmitting 100 groups of monomer voltages, illustrate the workflow of CAN bus data transmission method.
The numberical range of the voltage value of monomer voltage is 0.000-3.700V, and accuracy is one thousandth.
The number of the voltage value of monomer voltage be 3701,283701 < 2 of <16.Therefore, the first of each voltage value occupancy
Byte number is 2.
The total number of monomer voltage is 100 < 28, the second byte number of occupancy is 1.
Byte 100 is index, and byte 200 is amount field, and byte 200-800 is data recorded area, sends primary, transmission 3
The voltage value of a monomer voltage.
For the first time send when, data recorded area obtains and record be 0-2 monomer voltage value, transmission No. 0-2
The voltage value of monomer.
As shown in Fig. 2, byte 300 and 400 records the voltage value of the 0th monomer, byte 500 and 600 records No. 1 monomer
Voltage value, byte 700-800 records the voltage value of No. 2 monomer.
When second sends, index is automatic plus 1, data recorded area obtain and record be 3-5 monomer voltage
Value sends the voltage value of 3-5 monomer.
Wherein, byte 300 and 400 records the voltage value of the 3rd monomer, and byte 500 and 600 records the electricity of No. 4 monomer
Pressure value, byte 700-800 record the voltage value of No. 5 monomer.
And so on, until 100 monomer voltages are all successively sent completely.In entire transmission process, adopt always
With the same message ID.
CAN bus data transmission method provided in an embodiment of the present invention is based on same message ID, using multiframe message form
Data to be transmitted is gradually sent, the code cubage of data to be transmitted can be reduced, reduces communications protocol content volume, is reduced multiple
The redundancy of battery pack combination configuration bring agreement complexity, not only compatible more battery pack configurations, realize greater number monomer
Transmission, and reduce CAN controller protocol stack COM layer identification code content volume, avoid the occurrence of that program's memory space is insufficient to ask
Topic, guarantee data stablizes transmission.
Further, before S2, building message ID, further includes:
S1 determines the number of the data to be transmitted of message ID single transmission, so that message ID is fully used, saves money
Source.
Preferably, S1, determines the number of the data to be transmitted of message ID single transmission, specifically includes:
S11, according to the parameter of single data to be transmitted determine single data to be transmitted shared by the first byte number；
The parameter of single data to be transmitted includes numberical range and accuracy.
Temperature sensor monitors the temperature of single battery correspondingly, and existing 100 single batteries need to send 100
A temperature value.The temperature values of battery pack are 0-100 DEG C, and temperature value is rounded numerical value, accuracy 1.Have between 0-100 DEG C
101 temperature values, 101 < 28, therefore, the first byte number shared by temperature value is 1.
S12 calculates total number N1Occupied second byte number；
100 < 28=256, total number N1The second byte number occupied is 1,
S13 obtains the total amount of byte of message ID；
Total amount of byte in CAN bus in message ID is 8.As shown in Fig. 2, byte 100-800.
S14 determines message ID single transmission according to the first byte number, the second byte number, total amount of byte and total number
The maximum quantity of data to be transmitted；
When in message ID without containing index, the data to be transmitted of message ID single transmission is maximum quantity, is six.
S15 determines minimum number required for completing whole data to be transmitted according to maximum quantity；
100 temperature values, every time transmission 7 are minimum to need 15 times.
S16 determines the shared third byte number of index according to minimum number；
15 are much smaller than 28.Therefore, index at most accounts for 1 byte, such as occupies byte 100.
S17 determines message ID single transmission according to total amount of byte, the first byte number, the second byte number and third byte number
Data to be transmitted number n.
From the foregoing, it will be observed that remaining total amount of byte is 6 in message ID, the number for needing to transmit is 17 times.
Further, the first byte number, the second byte number and third byte number can be 1 or 2, to meet engineering and reality
Border needs.
When minimum the number of transmissions is greater than 28, and less than 216When, third byte number is 2.Under normal circumstances, two byte energy
Enough meet general requirement of engineering.
Preferably, before transmission data to be transmitted, further includes:
Whether contain blank byte in Real-time Monitoring Data recording areas；
When transmitting the voltage value of monomer voltage, when last time message ID is transmitted, it is only necessary to transmit two voltage values.Report
Remaining four bytes in literary ID, i.e. byte 500-800 are blank byte.
It is blank byte there are two byte when last time is transmitted when transmitting temperature value.
If so, filling the blank byte.
For transmitting the filling of voltage value remainder bytes, 0Xffff can be used with two neighboring blank byte for one group
Filling.
For transmitting the filling of temperature value remainder bytes, to each blank byte, 0Xff filling can be used.
By being filled to blank byte, to guarantee that data are complete in message ID, send it smoothly.
It is highly preferred that if so, filling the blank byte, comprising:
If there is free wrongly written or mispronounced character section, monitor the blank byte quantity whether be the first byte number integral multiple.
If integral multiple, then whole blank bytes are divided into integer group, using the Character Filling of the first byte number length
Blank byte described in every group；
As described above, remainder bytes in voltage value are transmitted and are divided into 2 groups, two blank bytes are one group, every group of blank
0Xffff filling can be used in byte.Temperature value remainder bytes are transmitted, are divided into 2 groups, every group can be used 0Xff filling.
If the quantity of blank byte is the non-integral multiple of the first byte number, by the quantity of blank byte and the first byte
Number compares；
If the quantity of blank byte, less than the first byte number, the character that single byte length can be used fills each word one by one
Section；
For example, when transmitting the voltage value of monomer voltage, when last time message ID is transmitted, if only remaining next blank word
When section, 0Xff filling can be used.
If the quantity of blank byte be greater than the first byte number, by all blank bytes be divided into integer group blank byte and
Remaining blank byte, remaining blank byte can be with single blank bytes for one group.
First integer group blank byte described in the Character Filling with the first byte number length；Again with the character of single byte length
Fill remaining blank byte.
For example, when transmitting the voltage value of monomer voltage, when last time message ID is transmitted, if being only left three blank
When byte, wherein two adjacent bytes are integer group blank byte, and 0Xffff filling can be used；A remaining blank byte, then
It is filled using 0Xff.
By monitoring the quantity of blank byte, and compared with the first byte number of data to be transmitted, code can be not only saved
Volume, also can be improved the charging efficiency of blank byte, save the time, reduce cost.
More than, technical solution of the present invention is described in detail in conjunction with specific embodiments, described specific implementation
Example is used to help understand thought of the invention.The derivation that those skilled in the art make on the basis of the specific embodiment of the invention
It is also belonged within the scope of the present invention with modification.
Claims (9)
1. a kind of CAN bus data transmission method characterized by comprising
Message ID is constructed, index, amount field and data recorded area are established in message ID, wherein index record message ID has been sent out
The number sent, the amount field record the total number N of data to be transmitted1；
No. 0 to No. (n-1)th data to be transmitted is obtained, and is recorded in data recorded area；
Send No. 0 to No. (n-1)th data to be transmitted, wherein n be message ID single transmission data to be transmitted number, n >=
1；
When transmission times is N to the message ID recorded in index2When, obtain N2* No. n to (N2+ 1) No. n-1 number to be transmitted of *
According to, and it is recorded in data recorded area, N1≥N2≥1；
Based on same message ID, N is sent2* No. n to (N2+ 1) * n-1 data to be transmitted.
2. CAN bus data transmission method as described in claim 1, which is characterized in that before building message ID, further includes:
Determine the number of the data to be transmitted of message ID single transmission.
3. CAN bus data transmission method as claimed in claim 2, which is characterized in that calculate message ID single transmission to
Transmission data number include:
According to the parameter of single data to be transmitted determine single data to be transmitted shared by the first byte number；
Calculate occupied second byte number of total number；
Obtain the total amount of byte of message ID；
According to the first byte number, the second byte number, total amount of byte and total number, the number to be transmitted of message ID single transmission is determined
According to maximum quantity；
Minimum number required for completing whole data to be transmitted is determined according to maximum quantity；
The shared third byte number of index is determined according to minimum number；
According to total amount of byte, the first byte number, the second byte number and third byte number, the to be transmitted of message ID single transmission is determined
The number n of data.
4. CAN bus data transmission method as claimed in claim 3, which is characterized in that the parameter packet of single data to be transmitted
Include numberical range and accuracy.
5. CAN bus data transmission method as claimed in claim 4, which is characterized in that the shared by single data to be transmitted
One byte number is 1 or 2.
6. CAN bus data transmission method as claimed in claim 5, which is characterized in that occupied second byte of total number
Number is 1 or 2.
7. CAN bus data transmission method as claimed in claim 6, which is characterized in that third byte number is 1 or 2.
8. CAN bus data transmission method as claimed in claim 1, which is characterized in that send data to be transmitted it
Before, further includes:
Whether contain blank byte in monitoring data recording areas；
If so, all blank bytes of filling.
9. CAN bus data transmission method as claimed in claim 8, which is characterized in that if so, all blank words of filling
Section, comprising:
If there is free wrongly written or mispronounced character section, monitor the blank byte quantity whether be the first byte number integral multiple；
If integral multiple, then all blank bytes are divided into integer group, using every group of Character Filling of the first byte number length
Blank byte；
If non-integral multiple, then the first byte number is compared with the quantity of blank byte,
If the quantity of blank byte, less than the first byte number, the character that single byte length can be used fills each blank word one by one
Section；
If the quantity of blank byte is greater than the first byte number, all blank bytes are divided into integer group blank byte and residue
Byte, integer group blank byte described in the Character Filling with the first byte number length；Again with the Character Filling of single byte length
Remaining blank byte.
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| CN101360036A (en) * | 2007-07-31 | 2009-02-04 | 比亚迪股份有限公司 | CAN bus gateway controller and data transmission method between CAN buses |
| CN101552785A (en) * | 2009-05-07 | 2009-10-07 | 浙江大学 | CAN bus communication protocol based on message mechanism used for massive data transmission |
| US20150237174A1 (en) * | 2014-02-20 | 2015-08-20 | Freescale Semiconductor, Inc. | Multi-frame and frame streaming in a controller area network (can) with flexible data- rate (fd) |
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