CN111130935A - Method, device and equipment for testing fast and slow recovery time of CAN Bus off and storage medium - Google Patents
Method, device and equipment for testing fast and slow recovery time of CAN Bus off and storage medium Download PDFInfo
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- CN111130935A CN111130935A CN201911344095.8A CN201911344095A CN111130935A CN 111130935 A CN111130935 A CN 111130935A CN 201911344095 A CN201911344095 A CN 201911344095A CN 111130935 A CN111130935 A CN 111130935A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L43/00—Arrangements for monitoring or testing data switching networks
- H04L43/50—Testing arrangements
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L43/00—Arrangements for monitoring or testing data switching networks
- H04L43/16—Threshold monitoring
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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
- H04L2012/40267—Bus for use in transportation systems
- H04L2012/40273—Bus for use in transportation systems the transportation system being a vehicle
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Abstract
The invention discloses a method, a device, equipment and a storage medium for testing the off fast and slow recovery time of CAN Bus, comprising the steps of enabling an ECU to generate a plurality of error frames through a plurality of times of interference operation based on CAPL language, enabling an error counter to reach a corresponding count value, and counting the interval time between the error frames; counting the number of the sending error counter; detecting whether the count of the sending error counter exceeds a first threshold value, if so, judging that the node of the controller area network enters a Bus off state; counting the interval time between error frame packets taking a preset number of frames as an error frame packet unit; and if a second threshold number of slow recovery time exists, acquiring time intervals between a plurality of groups of error frames in the preset number sequence after the second threshold number and the error frames in the preset number plus one sequence as fast recovery time.
Description
Technical Field
The invention relates to the technical field of vehicle communication, in particular to a method, a device, equipment and a storage medium for testing the fast and slow off recovery time of CAN Bus.
Background
The communication of the whole vehicle is a frequently encountered thing, and the communication of the whole vehicle is harmless and elegant when the communication of the whole vehicle is failed, and can affect city pools. Therefore, the method for handling the fault is very important, and it is important to determine whether the handling method can be reliably operated.
When the CAN communication of the whole vehicle fails, an error processing mechanism exists in a CAN controller, a fault node enters a passive error state from an active error state, even enters a Bus off (CAN Bus off) state, the fault node is separated from the communication of a Bus, the communication of a normal node is not influenced, the node entering the Bus off (CAN Bus off) state CAN continuously not interact data with other nodes, if the node has a temporary fault, the node CAN realize a self-recovery function, and the CAN controller is a more superior control method. The CAN controller first performs the fast recovery mode 5 consecutive times before the ECU performs the slow recovery mode.
The CAN Bus design specification makes strict provisions on the CAN Bus off self-recovery mode of the CAN node, and fully considers the treatment of accidental faults and continuous faults. A single controller needs to define a fast recovery time and a slow recovery time. The fast recovery slow recovery time defined for the test is standard compliant. Therefore, a method for testing the fast recovery/slow recovery time in the CAN Busoff state based on the CAPL programming language is needed.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
Based on the reasons, the invention provides a method, a device, equipment and a storage medium for testing the fast and slow recovery time of CAN Bus off.
Disclosure of Invention
In order to meet the above requirements, the first objective of the present invention is to provide a method for testing the fast and slow recovery time of CAN Bus off.
The second purpose of the invention is to provide a device for testing the fast and slow recovery time of CAN Bus off.
It is a third object of the present invention to provide a CAN Bus off fast and slow recovery time test computer apparatus.
It is a fourth object of the invention to provide a non-transitory computer readable storage medium having a computer program stored thereon.
In order to achieve the purpose, the invention adopts the following technical scheme:
a CAN Bus off fast and slow recovery time test method comprises the following steps:
acquiring the count of an error counter of a node in a controller area network in real time;
enabling an ECU to generate a plurality of error frames through a plurality of times of interference operation based on CAPL language, enabling an error counter to reach a corresponding count value, and counting the interval time between the error frames;
counting the number of sending error counters of nodes in a controller area network;
detecting whether the count of the sending error counter exceeds a first threshold value, if so, judging that the node of the controller area network enters a Bus off state;
counting the interval time between error frame packets taking a preset number of frames as an error frame packet unit;
and if a second threshold number of slow recovery time exists, acquiring time intervals between a plurality of groups of error frames in the preset number sequence after the second threshold number and the error frames in the preset number plus one sequence as fast recovery time.
In one possible embodiment, the step of causing the ECU to generate the error frames through the interference operations based on the CAPL language comprises designing the interference using a CANoe VH6501 bus interferometer in cooperation with a CANoe.
In one possible embodiment, the step of counting the transmission error counters of the nodes in the local area network of statistical controllers comprises the step of incrementing the count of the transmission error counters by a preset value when the step of generating a plurality of error frames by the ECU through a plurality of interference operations based on the CAPL language is performed once.
In one possible embodiment, the first threshold value is a value set by a technician.
In a possible embodiment, the second threshold number is a value set according to customer requirements.
In a possible embodiment, the step of obtaining the time interval between the groups of the preset number of ordered error frames after the second threshold number and the preset number plus one ordered error frame as the fast recovery time further includes setting the fast recovery time obtained once or more times according to the customer requirement.
The invention also discloses a device for testing the fast and slow recovery time of CAN Bus off, which comprises the following units:
the counting unit is used for acquiring the count of an error counter of a node in the controller area network in real time;
the interference unit is used for enabling the ECU special-purpose microcomputer controller for the automobile to generate a plurality of error frames through a plurality of interference operation orders based on the CAPL language, enabling the error counter to reach a corresponding count value, and counting the interval time between the error frames;
the first statistic unit is used for counting the number of the sending error counters of the nodes in the controller area network;
the detection unit is used for detecting whether the count of the sending error counter exceeds a first threshold value, and if so, judging that the node of the controller area network enters a Bus off state;
a second counting unit for counting the interval time between error frame packets in units of a preset number of frames as error frame packets;
and the result processing unit is used for acquiring the time interval between the error frames in the first group in the preset number and the error frames in the sequence of adding one to the preset number as the slow recovery time, and acquiring the time interval between the error frames in the sequence of the preset number and the error frames in the sequence of adding one to the preset number after the second threshold number as the fast recovery time if the second threshold number of the slow recovery time exists.
In another aspect, the present invention further provides a CAN Bus off fast and slow recovery time testing computer device, including a memory, a processor, and a CAN Bus off fast and slow recovery time testing program stored in the memory and running on the processor, wherein the CAN Bus off fast and slow recovery time testing program, when executed by the processor, implements the CAN Bus off fast and slow recovery time testing method as described in any one of the above items
In another aspect, the present invention also proposes a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the CAN Bus off fast and slow recovery time test method as described in any one of the above.
Compared with the prior art, the invention has the beneficial effects that: by adopting the CAN Bus off fast and slow recovery time testing method, fast recovery and slow recovery time of a CAN Bus to a single controller in a CAN Bus off self-recovery mode of a CAN node CAN be accurately tested, whether a whole vehicle communication fault processing mode CAN reliably operate or not is judged, a solid foundation is provided for safe use of whole vehicle communication, and the testing method has the characteristics of simple steps, high automation degree, accuracy and quickness, CAN bring great convenience to practitioners, and contributes to the development of the whole vehicle communication technology.
The invention is further described below with reference to the accompanying drawings and specific embodiments.
Drawings
FIG. 1 is a schematic flow chart of an embodiment of a method for testing fast and slow recovery times of CAN Bus off according to the present invention;
FIG. 2 is a schematic diagram of a CAN bus error state and defining conditions for errors;
FIG. 3 is a table of Transmit Error Count versus Time;
FIG. 4 is a schematic diagram of a frame composition of a fast recovery time and a slow recovery time testing apparatus for CAN Bus off according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a frame composition of a CAN Bus off fast and slow recovery time test computer device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
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 shown in fig. 1, a flowchart of a specific embodiment of a method for testing fast and slow recovery times of CAN Bus off provided by the present invention includes the following steps:
step S1, acquiring the count of the error counter of the node in the controller area network in real time;
step S2, enabling the ECU to generate a plurality of error frames through a plurality of interference operations based on CAPL language, enabling an error counter to reach a corresponding count value, and counting the interval time between the error frames;
step S3, counting the number of sending error counters of the nodes in the controller area network;
step S4, detecting whether the count of the sending error counter exceeds a first threshold value, if so, judging that the node of the controller area network enters a Bus off state;
step S5, counting the interval time between error frame groups with a preset number of frames as error frame group units;
step S6, acquiring time intervals between a preset number of error frames in the first group and error frames in the sequence of the preset number plus one as slow recovery time, and if there is a second threshold number of slow recovery time, acquiring time intervals between a plurality of groups of error frames in the sequence of the preset number after the second threshold number and error frames in the sequence of the preset number plus one as fast recovery time.
The Controller Area Network (CAN) was developed by BOSCH, germany, which is a well-known automobile electronic product, and finally became an international standard (ISO 11898). Is one of the most widely used field buses internationally. In north america and western europe, the CAN bus protocol has become the standard bus for automotive computer control systems and embedded industrial control area networks, and possesses the J1939 protocol designed for large trucks and heavy work machinery vehicles with CAN as the underlying protocol. In recent years, the high reliability and good error detection capability of the sensor are emphasized, and the sensor is widely applied to an automobile computer control system and an industrial environment with severe environmental temperature, strong electromagnetic radiation and large vibration.
Specifically, in the implementation step of the present invention, there is an Error Counter in the CAN controller, each node in the CAN controller contains an REC (Receive Error Counter) and a TEC (Transmit Error Counter), and the bus Error state is as shown in fig. 2:
when an ECU (Electronic Control Unit, ECU) is also called a "traveling computer", "on-board computer", etc., and is a microcomputer controller for a vehicle in terms of use, which is composed of a Microprocessor (MCU), a memory (ROM, RAM), an input/output interface (I/O), an analog-to-digital converter (a/D), and a large-scale integrated circuit such as a shaping circuit, a driving circuit, etc., as in a general computer, after entering a Bus off mode, the ECU executes the following operations to recover:
1) the CAN chip is immediately reinitialized;
2) the message transmission should be suspended within the time of T (TbuffQuick or TbuffSlow), and the message transmission is divided into fast recovery and slow recovery; specifically, the parameter values of tbusofquickquick or tbusofslow are shown in table 1:
TABLE 1
3) Normal CAN communication is recovered;
after the ECU enters a Bus-off mode (a general recovery mode);
1) firstly, the ECU executes a quick recovery mode;
2) after 5 continuous quick recovery, the ECU executes a slow recovery mode (the numerical value can be adjusted);
specifically, a relation table of Transmit Error Count and Time is shown in fig. 3, where Transmit Error Count represents the number of Error frames, a tbusoff Time period represents fast recovery Time, and a tbusoff Time period represents slow recovery Time, and it CAN be known from fig. 2 and fig. 3 that when TEC is greater than 255, a bus off state (CAN bus off) is entered.
In a preferred embodiment, the step S2 includes designing the interference by using a CANoe VH6501 bus interferometer in cooperation with a CANoe.
Specifically, the CANoe VH6501 bus interferometer and the interference ECU are designed to generate error frames in cooperation with the upper computer CANoe10.0sp5 version and the CAPL language.
In a preferred embodiment, the step S3 includes increasing the count of the transmission error counter by a preset value when the step of generating the error frames by the ECU through the plurality of interference operations based on the CAPL language is performed once.
The preset value can be adjusted according to the requirements of a user or a client.
In a preferred embodiment, the first threshold value is a value set by a technician, and the second threshold number is a value set according to a customer requirement.
As a preferred embodiment, the step of obtaining the time interval between the groups of error frames in the preset number order after the second threshold number and the error frames in the preset number plus one order as the fast recovery time further includes setting the fast recovery time obtained once or more times according to the client requirement.
By the arrangement, the application range of the method can be expanded, and the method is applied to acquiring more data so as to better test the performance of the vehicle.
The second embodiment is as follows:
when five slow recovery times are required to be acquired, one fast recovery time;
when the TEC is larger than 255, entering a bus off state (CAN bus off);
an interference ECU is designed to generate error frames by adopting a CANoe VH6501 bus interferometer and matching with an upper computer CANoe10.0SP5 version and CAPL language.
Interfering with one error frame TEC count + 8.
It is possible to obtain: and TEC counting: 8 (TEC disturbing one error frame) 32 times;
after 32 disturbances, the CAN bus enters a bus fault CAN bus off state.
If there are 5 slow recoveries followed by 1 fast recovery, the time interval between the 32 nd frame error frame and the 33 rd frame error frame in the 6 th group is the fast recovery time.
As shown in FIG. 4, the invention also discloses a CAN Bus off fast and slow recovery time testing device, which comprises the following units:
a counting unit 100, configured to obtain, in real time, a count of an error counter of a node in a controller area network;
the interference unit 200 is used for enabling the ECU to generate a plurality of error frames through a plurality of interference operations based on the CAPL language, enabling the error counter to reach a corresponding count value, and counting the interval time between the error frames;
a first statistical unit 300, configured to count a count of a transmission error counter of a node in a controller area network;
a detecting unit 400, configured to detect whether a count of the transmission error counter exceeds a first threshold value, and if so, determine that a node of the controller area network enters a Bus off state;
a second counting unit 500 for counting the interval time between error frame packets in units of a preset number of frames as error frame packets;
and the result processing unit 600 is configured to obtain a time interval between a preset number of error frames in the first group and an error frame in an order of adding one to the preset number as a slow recovery time, and if there is a second threshold number of slow recovery times, obtain a time interval between a number of groups of error frames in the order of the preset number after the second threshold number and an error frame in the order of adding one to the preset number as a fast recovery time.
Specifically, the counting unit 100, the interference unit 200, the first statistical unit 300, the detecting unit 400, the second statistical unit 500, and the result processing unit 600 are configured to implement steps S1-S6 shown in fig. 1, where the counting unit 100, the interference unit 200, the first statistical unit 300, the detecting unit 400, the second statistical unit 500, and the result processing unit 600 may include, but are not limited to, an operation interface, an information input interface, and a result display interface.
In another aspect, as shown in FIG. 5, the present invention further provides a CAN Bus off fast and slow recovery time testing computer device, which includes a memory 700, a processor 800 and a CAN Bus off fast and slow recovery time testing program stored in the memory 700 and executable on the processor, wherein the CAN Bus off fast and slow recovery time testing program, when executed by the processor 800, implements the CAN Bus off fast and slow recovery time testing method according to any one of the above items
The Memory 700 may be a Read-Only Memory (ROM) or other types of static storage devices that can store static information and instructions, a Random Access Memory (RAM) or other types of dynamic storage devices that can store information and instructions, an Electrically Erasable Programmable Read-Only Memory (EEPROM), a compact disc Read-Only Memory (CD-ROM) or other optical disc storage, optical disc storage (including compact disc, laser disc, optical disc, digital versatile disks, blu-ray disks, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited to such. The memory may be self-contained and coupled to the processor via a communication bus. The memory may also be integral to the processor.
In another aspect, the present invention also proposes a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the CAN Bus off fast and slow recovery time test method as described in any one of the above.
The storage medium may be an internal storage unit of the aforementioned server, such as a hard disk or a memory of the server. The storage medium may also be an external storage device of the device, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like provided on the device. Further, the storage medium may also include both an internal storage unit and an external storage device of the apparatus.
It should be noted that, as will be clear to those skilled in the art, specific implementation processes of the above apparatus, the computer device and the units may refer to corresponding descriptions in the foregoing method embodiments, and for convenience and brevity of description, no further description is provided herein.
Those of ordinary skill in the art will appreciate that the elements and algorithm steps of the examples described in connection with the embodiments disclosed herein may be embodied in electronic hardware, computer software, or combinations of both, and that the components and steps of the examples have been described in a functional general in the foregoing description for the purpose of illustrating clearly 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 is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative. For example, the division of each unit is only one logic function division, and there may be another division manner in actual implementation. For example, more than one unit or component may be combined or may be integrated into another system, or some features may be omitted, or not implemented.
The steps in the method of the embodiment of the invention can be sequentially adjusted, combined and deleted according to actual needs. The units in the device of the embodiment of the invention can be merged, divided and deleted according to actual needs.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention essentially or partially contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a terminal, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (9)
- The method for testing the fast and slow recovery time of CAN Bus off is characterized by comprising the following steps:acquiring the count of an error counter of a node in a controller area network in real time;enabling an ECU to generate a plurality of error frames through a plurality of times of interference operation based on CAPL language, enabling an error counter to reach a corresponding count value, and counting the interval time between the error frames;counting the number of sending error counters of nodes in a controller area network;detecting whether the count of the sending error counter exceeds a first threshold value, if so, judging that the node of the controller area network enters a Bus off state;counting the interval time between error frame packets taking a preset number of frames as an error frame packet unit;and if a second threshold number of slow recovery time exists, acquiring time intervals between a plurality of groups of error frames in the preset number sequence after the second threshold number and the error frames in the preset number plus one sequence as fast recovery time.
- 2. The CAN Bus off fast and slow recovery time test method of claim 1, wherein the step of causing the ECU to generate the plurality of error frames by a plurality of interference operations based on the CAPL language comprises designing the interference using a CANoe VH6501 Bus interferometer in cooperation with a CANoe.
- 3. The CAN Bus off fast and slow recovery time test method of claim 1, wherein the step of counting the number of transmission error counters of the nodes in the controller area network comprises incrementing the number of transmission error counters by a predetermined value when the step of causing the ECU to generate a number of error frames by a number of interference operations based on the CAPL language is performed once.
- 4. The CAN Bus off fast and slow recovery time test method of claim 1, wherein the first threshold value is a technician set value.
- 5. The CAN Bus off fast and slow recovery time test method of claim 1, wherein the second threshold number is a value set according to customer requirements.
- 6. The CAN Bus off fast and slow recovery time testing method of claim 1, wherein the step of obtaining the time interval between the predetermined number of sequential error frames and the predetermined number plus the sequential error frames of the plurality of groups after the second threshold number is used as the fast recovery time further comprises setting the fast recovery time to be obtained one or more times according to the customer's requirement.
- The CAN Bus off fast and slow recovery time testing device is characterized by comprising the following units:the counting unit is used for acquiring the count of an error counter of a node in the controller area network in real time;the interference unit is used for enabling the ECU special-purpose microcomputer controller for the automobile to generate a plurality of error frames through a plurality of interference operation orders based on the CAPL language, enabling the error counter to reach a corresponding count value, and counting the interval time between the error frames;the first statistic unit is used for counting the number of the sending error counters of the nodes in the controller area network;the detection unit is used for detecting whether the count of the sending error counter exceeds a first threshold value, and if so, judging that the node of the controller area network enters a Bus off state;a second counting unit for counting the interval time between error frame packets in units of a preset number of frames as error frame packets;and the result processing unit is used for acquiring the time interval between the error frames in the first group in the preset number and the error frames in the sequence of adding one to the preset number as the slow recovery time, and acquiring the time interval between the error frames in the sequence of the preset number and the error frames in the sequence of adding one to the preset number after the second threshold number as the fast recovery time if the second threshold number of the slow recovery time exists.
- A CAN Bus off fast and slow recovery time test computer device comprising a memory, a processor and a CAN Bus off fast and slow recovery time test program stored on the memory and executable on the processor, the CAN Bus off fast and slow recovery time test program when executed by the processor implementing the CAN Bus off fast and slow recovery time test method of any one of claims 1 to 6.
- 9. A non-transitory computer readable storage medium having stored thereon a computer program which when executed by a processor implements the CAN Bus off fast and slow recovery time testing method of any of claims 1-6.
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| CN112711242A (en) * | 2020-12-17 | 2021-04-27 | 东风越野车有限公司 | Automatic network diagnosis test system and test method for automobile electric control unit |
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