CN111277455A - CAN network baud rate identification method, device, equipment and storage medium - Google Patents

CAN network baud rate identification method, device, equipment and storage medium Download PDF

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Publication number
CN111277455A
CN111277455A CN202010042180.5A CN202010042180A CN111277455A CN 111277455 A CN111277455 A CN 111277455A CN 202010042180 A CN202010042180 A CN 202010042180A CN 111277455 A CN111277455 A CN 111277455A
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baud rate
controller
data
network
preset
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CN202010042180.5A
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CN111277455B (en
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刘均
陈质健
刘权列
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Shenzhen Launch Technology Co Ltd
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Shenzhen Launch Technology Co Ltd
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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
    • H04L43/08—Monitoring or testing based on specific metrics, e.g. QoS, energy consumption or environmental parameters
    • H04L43/0876—Network utilisation, e.g. volume of load or congestion level
    • 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
    • H04L12/4013—Management of data rate on the bus
    • 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
    • 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
    • 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
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/50—Reducing energy consumption in communication networks in wire-line communication networks, e.g. low power modes or reduced link rate

Abstract

The application relates to a CAN network baud rate identification method, a device, equipment and a storage medium. The method comprises the following steps: setting the baud rate of the CAN controller according to a preset standard baud rate table; judging whether the CAN controller receives data in a CAN bus within a preset first time; when the CAN controller CAN receive data within a preset first time, identifying that the Baud rate enabling the CAN controller to receive the data is the correct Baud rate and recording the Baud rate enabling the CAN controller to receive the data; and when the CAN controller cannot receive data within the preset first time and the baud rate in the standard baud rate table is not used, continuing to set the baud rate of the CAN controller according to the standard baud rate table.

Description

CAN network baud rate identification method, device, equipment and storage medium
Technical Field
The application relates to the technical field of vehicle CAN buses, in particular to a CAN network baud rate identification method, device, equipment and storage medium.
Background
Controller Area Network (CAN) communication is a method of communicating between microprocessor-based devices. Typically, the device includes a CAN controller communicatively coupled to a CAN bus. A typical CAN controller communicates with other devices at a fixed baud rate. For example, the devices on the vehicle communicate with each other through the CAN bus. In an unknown CAN network, the baud rate of the CAN network needs to be identified, and in the prior art, the baud rate identification efficiency is not accurate.
Therefore, how to provide a scheme capable of accurately identifying the baud rate is a technical problem to be solved by those skilled in the art.
Disclosure of Invention
The application provides a method, a device, equipment and a storage medium for identifying the Baud rate of a CAN network, and aims to solve the technical problem of inaccurate Baud rate identification.
In a first aspect, the present application provides a method for identifying a baud rate of a CAN network, where the method for identifying the baud rate of the CAN network includes:
setting the baud rate of the CAN controller according to a preset standard baud rate table;
judging whether the CAN controller receives data in a CAN bus within a preset first time;
when the CAN controller CAN receive data within a preset first time, identifying that the Baud rate enabling the CAN controller to receive the data is the correct Baud rate, and recording the Baud rate enabling the CAN controller to receive the data;
and when the CAN controller cannot receive data within a preset first time and the baud rate in the standard baud rate table is not used completely, continuing to set the baud rate of the CAN controller according to the preset standard baud rate table.
Preferably, before the setting the baud rate of the CAN controller according to a preset standard baud rate table, the method further includes:
setting the operation mode of a Controller Area Network (CAN) controller as a limited operation mode, wherein when the CAN controller is in the limited operation mode, the CAN controller CAN receive data and cannot send data, and an error counter of the CAN controller does not count when the baud rate is set to be wrong;
and setting a filter of the CAN controller to be in an ID full-pass mode.
Preferably, before the setting the operation mode of the controller area network CAN controller to the limited operation mode, the method further includes:
initializing the CAN controller.
Preferably, when the baud rate in the standard baud rate table is used up and the CAN controller cannot receive data within a preset first time, the method further includes:
the method comprises the steps that when the CAN controller cannot receive data within a preset first time and the Baud rate in the standard Baud rate table is used up, the Baud rate of the CAN controller is set according to the preset standard Baud rate table;
controlling the CAN controller to send a frame of data to a CAN bus;
judging whether the CAN controller successfully sends data after a preset second time;
when the CAN controller successfully sends data, identifying that the Baud rate enabling the CAN controller to successfully send the data is the correct Baud rate, and recording the Baud rate enabling the CAN controller to successfully send the data;
and when the CAN controller fails to send data and the baud rate in the standard baud rate table is not used completely, continuing to set the baud rate of the CAN controller according to a preset standard baud rate table.
Preferably, before the setting the baud rate of the CAN controller according to the preset standard baud rate table, the method further includes:
and setting the operation mode of the CAN controller as a non-retransmission mode, wherein when the CAN controller is in the non-retransmission mode, the CAN controller only transmits data once when transmitting the data.
Preferably, before the setting the baud rate of the CAN controller according to the preset standard baud rate table, the method further includes:
and setting the filter of the CAN controller to be in an ID all-out passing mode.
Preferably, the baud rates in the standard baud rate table are arranged from large to small.
In a second aspect, the present application further provides a device for identifying a baud rate of a CAN network, where the device for identifying a baud rate of a CAN network includes:
the first baud rate setting module is used for setting the baud rate of the CAN controller according to a preset standard baud rate table;
the receiving and judging module is used for judging whether the CAN controller receives data in a CAN bus within a preset first time;
the first identification module is used for identifying that the Baud rate enabling the CAN controller to receive the data is the correct Baud rate and recording the Baud rate enabling the CAN controller to receive the data when the CAN controller CAN receive the data in a preset first time;
the first baud rate setting module is further used for continuing to set the baud rate of the CAN controller according to the preset standard baud rate table when the CAN controller cannot receive data within the preset first time and the baud rate in the standard baud rate table is not used up.
Preferably, the CAN network baud rate identification apparatus further includes:
the controller area network CAN controller comprises a limited mode setting module, a data transmission module and a control module, wherein the limited mode setting module is used for setting the operation mode of the controller area network CAN controller to be a limited operation mode, and when the CAN controller is in the limited operation mode, the CAN controller CAN receive data and cannot transmit the data, and an error counter of the CAN controller does not count when the baud rate is set to be wrong;
and the ID passing module is used for setting the filter of the CAN controller to be in an ID full passing mode.
Preferably, the CAN network baud rate identification apparatus further includes:
and the use judgment module is used for judging whether the baud rate in the standard baud rate table is used up.
Preferably, the CAN network baud rate identification apparatus further includes:
and the initialization module is used for initializing the CAN controller.
Preferably, the CAN network baud rate identification apparatus further includes:
the second baud rate setting module is used for setting the baud rate of the CAN controller according to the preset standard baud rate table;
the sending control module is used for controlling the CAN controller to send frame data to a CAN bus;
the sending judgment module is used for judging whether the CAN controller successfully sends data after a preset second time;
the second identification module is used for identifying that the Baud rate enabling the CAN controller to successfully send data is the correct Baud rate and recording the Baud rate enabling the CAN controller to successfully send data when the CAN controller successfully sends data;
and the second baud rate setting module is further used for continuing to set the baud rate of the CAN controller according to a preset standard baud rate table when the CAN controller fails to send data and the baud rate in the standard baud rate table is not used completely.
Preferably, the CAN network baud rate identification apparatus further includes:
and the non-retransmission mode setting module is used for setting the operation mode of the CAN controller to be a non-retransmission mode when the CAN controller cannot receive data within the preset first time and the baud rate in the standard baud rate table is used up, and the CAN controller only sends the data once when the CAN controller sends the data when the CAN controller does not send the data in the non-retransmission mode.
Preferably, the CAN network baud rate identification apparatus further includes:
and the ID forbidding module is used for setting the filter of the CAN controller to be in an ID all-out-passing mode.
In a third aspect, the present application further provides a device for identifying a baud rate of a CAN network, where the device for identifying a baud rate of a CAN network includes:
the memory is used for storing a CAN network baud rate identification program;
and the processor is used for realizing the CAN network baud rate identification method in the embodiment of the first aspect of the application when executing the CAN network baud rate identification program.
In a fourth aspect, the present application further provides a storage medium, where the storage medium is a computer-readable storage medium, and is characterized in that a CAN network baud rate identification program is stored in the storage medium, and when the CAN network baud rate identification program is executed by a processor, the CAN network baud rate identification method according to the embodiment of the first aspect of the present application is implemented.
Compared with the prior art, according to the technical scheme provided by the application, the baud rate of the CAN controller is set according to a preset standard baud rate table; judging whether the CAN controller receives data in a CAN bus within a preset first time; when the CAN controller CAN receive data within a preset first time, identifying that the Baud rate enabling the CAN controller to receive the data is the correct Baud rate, and recording the Baud rate enabling the CAN controller to receive the data; when the CAN controller cannot receive data within a preset first time and the baud rate in the standard baud rate table is not used completely, the baud rate of the CAN controller is continuously set according to the preset standard baud rate table, the baud rate of an unknown CAN network CAN be intelligently and quickly identified, the baud rate identification is accurate, and the identification efficiency is high.
Drawings
Fig. 1 is a flowchart of a method for identifying a baud rate of a CAN network according to a first embodiment of the present application.
Fig. 2 is a flowchart of a method for identifying a baud rate of a CAN network according to a second embodiment of the present application.
Fig. 3 is a flowchart of a method for identifying a baud rate of a CAN network according to a third embodiment of the present application.
Fig. 4 is a flowchart of a method for identifying a baud rate of a CAN network according to a fourth embodiment of the present application.
Fig. 5 is a schematic block diagram of a CAN network baud rate identification apparatus according to a fifth embodiment of the present application.
Fig. 6 is a schematic structural diagram of a CAN network baud rate identification device according to a sixth embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims of the present application and in the drawings described above, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It should be noted that the descriptions in this application referring to "first", "second", etc. are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present application.
Referring to fig. 1, fig. 1 is a diagram of a CAN network baud rate identification method according to a first embodiment of the present application, where the CAN network baud rate identification method CAN be executed by a CAN network baud rate identification device, and the CAN network baud rate identification device CAN be implemented in a hardware and/or software manner and is used to identify a baud rate of a CAN network. The CAN network baud rate identification device CAN be applied to CAN network baud rate identification equipment. The CAN network baud rate identification method comprises the following steps:
s11: and setting the baud rate of the CAN controller according to a preset standard baud rate table.
The standard baud rate table is a list of baud rates that the CAN controller allows to set, and one of the baud rates in the standard baud rate table is correct. The standard baud rate table is stored in the CAN network baud rate identification device in advance. When the baud rate of the CAN controller is set according to the standard baud rate table, the setting is one by one, and when the baud rate of one CAN controller is set, the process proceeds to step S12. The baud rate set may or may not be correct. Preferably, the baud rates in the standard baud rate table are arranged from large to small.
S12: and judging whether the CAN controller receives data in a CAN bus within a preset first time.
The length of the first time is not limited, and can be set according to needs. The first time is at least one period of data transceiving in the CAN bus, so that when the Baud rate of the CAN controller is set correctly, data CAN be received. When the CAN controller CAN receive the data within the preset first time, the process proceeds to step S13. When the CAN controller cannot receive the data within the preset first time, the process proceeds to step S14.
S13: when the CAN controller CAN receive data within a preset first time, the Baud rate which enables the CAN controller to receive the data is identified to be the correct Baud rate, and the Baud rate which enables the CAN controller to receive the data is recorded.
When the CAN controller CAN receive data within a preset first time, the setting of the Baud rate of the CAN controller is correct, so that the Baud rate which CAN receive the data by the CAN controller is the correct Baud rate, namely the Baud rate which CAN receive the data by the CAN controller is the correct Baud rate, the Baud rate which CAN receive the data by the CAN controller is recorded, the recorded Baud rate is the correct Baud rate of the identified CAN network, and the identification of the Baud rate CAN be finished.
S14: and when the CAN controller cannot receive data within a preset first time and the baud rate in the standard baud rate table is not used completely, continuing to set the baud rate of the CAN controller according to the preset standard baud rate table.
If the CAN controller cannot receive data within the preset first time, the setting of the Baud rate of the CAN controller is wrong under the condition that no special condition exists, and the Baud rate of the CAN controller needs to be set again. When the baud rate in the standard baud rate table is not used, the rest baud rates in the standard baud rate table are possibly correct, and the baud rates of the CAN controller need to be set one by one according to the unused baud rates in the standard baud rate table. The baud rates in the standard baud rate table are arranged from large to small, and when the baud rates of the CAN controller are set one by one, the baud rates are set one by one from large to small.
Preferably, before continuing to set the baud rate of the CAN controller according to the preset standard baud rate table, the method for identifying the baud rate of the CAN network further includes:
and judging whether the baud rate in the standard baud rate table is used up or not.
If each baud rate in the standard baud rate table is used for setting the baud rate of the CAN controller, the baud rate in the standard baud rate table is used up.
In the method for identifying the baud rate of the CAN network provided by the embodiment, the baud rate of the CAN controller is set according to a preset standard baud rate table; judging whether the CAN controller receives data in a CAN bus within a preset first time; when the CAN controller CAN receive data within a preset first time, identifying that the Baud rate enabling the CAN controller to receive the data is the correct Baud rate, and recording the Baud rate enabling the CAN controller to receive the data; when the CAN controller cannot receive data within a preset first time and the baud rate in the standard baud rate table is not used completely, the baud rate of the CAN controller is continuously set according to the preset standard baud rate table, the baud rate of an unknown CAN network CAN be intelligently and quickly identified, the baud rate identification is accurate, and the identification efficiency is high.
Referring to fig. 2, fig. 2 is a flowchart illustrating a method for identifying a baud rate of a CAN network according to a second embodiment of the present application,
s21: the method comprises the steps that the operation mode of a CAN controller is set to be a limited operation mode, when the CAN controller is in the limited operation mode, the CAN controller CAN receive data and cannot send the data, and an error counter of the CAN controller does not count when the baud rate is set to be wrong.
The CAN controller is respectively in communication connection with the CAN network baud rate identification device and a CAN bus of the CAN network. The CAN controller includes an error counter, a filter, an error status register, and the like. The error counter is used for counting errors when the CAN controller sends or receives data errors, the filter is used for filtering Identification (ID) of other CAN controllers and the like, and the error state register is used for judging whether the CAN controller sends data errors or not. The CAN register, error counter, filter, error status register are known in the art and will not be described in further detail.
The CAN network baud rate identification equipment is in communication connection with the CAN controller, and the CAN network baud rate identification equipment CAN set the operation mode of the CAN controller, so that the CAN controller has the state of the corresponding operation mode. The limited operation mode of the CAN controller is similar to the quiet listening mode of the CAN controller except that the error counter does not count when the CAN controller is transmitting or receiving data errors.
The error counter of the CAN controller CAN generate errors for the CAN network when the counting times are excessive, and the CAN controller CAN be prevented from generating errors due to the fact that the counting times of the error counter are excessive.
Preferably, before setting the operation mode of the CAN controller to the limited operation mode, the CAN network baud rate identification method further includes:
initializing the CAN controller.
How to initialize the CAN controller is prior art and will not be described in this application. And the CAN controller is initialized, so that the normal work of the CAN controller CAN be ensured, and the limited operation mode CAN be successfully set.
S22: and setting a filter of the CAN controller to be in an ID full-pass mode.
The filter of the CAN controller is in an ID all-pass mode, namely, ID filtering is not carried out on received data, and the CAN controller CAN receive the data when the baud rate is correct no matter which device sends the data in the CAN bus.
S23: and setting the baud rate of the CAN controller according to a preset standard baud rate table.
S24: and judging whether the CAN controller receives data in a CAN bus within a preset first time.
S25: when the CAN controller CAN receive data within a preset first time, the Baud rate which enables the CAN controller to receive the data is identified to be the correct Baud rate, and the Baud rate which enables the CAN controller to receive the data is recorded.
S26: and when the CAN controller cannot receive data within a preset first time and the baud rate in the standard baud rate table is not used completely, continuing to set the baud rate of the CAN controller according to the preset standard baud rate table.
In the method for identifying the baud rate of the CAN network provided by this embodiment, an operation mode of a controller area network CAN controller is set to be a limited operation mode, and when the CAN controller is in the limited operation mode, the CAN controller CAN receive data and cannot send data, and an error counter of the CAN controller does not count when the baud rate is set to be incorrect; setting a filter of the CAN controller to be in an ID full-pass mode; setting the baud rate of the CAN controller according to a preset standard baud rate table; judging whether the CAN controller receives data in a CAN bus within a preset first time; when the CAN controller CAN receive data within a preset first time, identifying that the Baud rate enabling the CAN controller to receive the data is the correct Baud rate, and recording the Baud rate enabling the CAN controller to receive the data; when the CAN controller cannot receive data within a preset first time and the baud rate in the standard baud rate table is not used completely, the baud rate of the CAN controller is continuously set according to the preset standard baud rate table, the baud rate of an unknown CAN network CAN be intelligently and quickly identified, the work of an error counter of the CAN controller CAN not be influenced, and the normal work of the network cannot be influenced.
Referring to fig. 3, a third embodiment of the present application also provides a method for identifying a baud rate of a CAN network, and the present embodiment provides a supplementary solution that the baud rate is not successfully set when an unexpected situation occurs, based on the foregoing embodiments, and the method for identifying the baud rate of the CAN network includes:
s31: and setting the baud rate of the CAN controller according to a preset standard baud rate table.
S32: and judging whether the CAN controller receives data in a CAN bus within a preset first time.
S33: when the CAN controller CAN receive data within a preset first time, the Baud rate which enables the CAN controller to receive the data is identified to be the correct Baud rate, and the Baud rate which enables the CAN controller to receive the data is recorded.
S34: and when the CAN controller cannot receive data within a preset first time and the baud rate in the standard baud rate table is not used completely, continuing to set the baud rate of the CAN controller according to the preset standard baud rate table.
S35: and when the CAN controller cannot receive data within a preset first time and the Baud rate in the standard Baud rate table is used up, setting the Baud rate of the CAN controller according to the preset standard Baud rate table.
When the baud rate is set at this time, even if the CAN controller cannot receive data within the preset first time and the use of the baud rate in the standard baud rate table is finished, the baud rate in the standard baud rate table is used again before the operation mode of the CAN controller is set to be the non-retransmission mode, so that the baud rate of the CAN controller CAN be set again. That is, there is no correlation between setting the baud rate after setting the operation mode of the CAN controller to the no retransmission mode and setting the baud rate before setting the operation mode of the CAN controller to the no retransmission mode. Preferably, the baud rates in the standard baud rate table are arranged from large to small.
S36: and controlling the CAN controller to send a frame of data to the CAN bus.
Whether the Baud rate of the CAN controller is set correctly is judged by judging whether the data CAN be successfully transmitted or not. When data is transmitted, the data length portion of the CAN frame is set to 0, that is, the data-not-transmitted portion is set to 0, and the data frame ID is set to 0x7FF, thereby reducing the occurrence of network errors.
S37: and judging whether the CAN controller successfully sends data after a preset second time.
The preset second time is not limited, and the shortest time of the second time is the time required by the CAN controller to successfully send one frame of data. How to determine whether data is successfully transmitted is the prior art, and the detailed description is not repeated in this application.
And when the data is successfully transmitted, the Baud rate of the CAN controller is correctly set. And when the data transmission fails, the setting error of the baud rate of the CAN controller is explained. The operation mode of the CAN controller is a no retransmission mode, and data is not transmitted again even if data transmission fails.
S38: and when the CAN controller successfully sends the data, identifying that the baud rate enabling the CAN controller to successfully send the data is the correct baud rate, and recording the baud rate enabling the CAN controller to successfully send the data.
When the data is successfully sent, the Baud rate which CAN be received by the CAN controller is the correct Baud rate, namely the Baud rate which CAN be received by the CAN controller is the correct Baud rate, the Baud rate which CAN be received by the CAN controller is recorded, the Baud rate which is recorded is the correct Baud rate which is identified, and the Baud rate identification of the CAN network CAN be finished.
S39: and when the CAN controller fails to send data and the baud rate in the standard baud rate table is not used completely, continuing to set the baud rate of the CAN controller according to a preset standard baud rate table.
If the CAN controller fails to send data, the setting of the Baud rate of the CAN controller is wrong, and the Baud rate of the CAN controller needs to be set again. When the baud rate in the standard baud rate table is not used, the rest baud rates in the standard baud rate table are possibly correct, and the baud rates of the CAN controller need to be set one by one according to the unused baud rates in the standard baud rate table. The baud rates in the standard baud rate table are arranged from large to small, and when the baud rates of the CAN controller are set one by one, the baud rates are set one by one from large to small. Therefore, when data is transmitted in the step S29, the data is transmitted at the set baud rate, and the occurrence of network errors can be reduced.
Preferably, before continuing to set the baud rate of the CAN controller according to a preset standard baud rate table when the CAN controller fails to send data and the baud rate in the standard baud rate table is not used up, the method further includes:
and judging whether the baud rate in the standard baud rate table is used up or not.
If each baud rate in the standard baud rate table is used for setting the baud rate of the CAN controller, the baud rate in the standard baud rate table is used up, and the CAN controller actively sends data, so that the CAN controller CAN successfully send the data as long as the baud rate of the CAN controller is correctly set, and the data of the CAN controller is ensured to be successfully sent.
The method for identifying the baud rate of the CAN network provided by the embodiment CAN ensure that the baud rate of the CAN controller CAN be identified under the condition that no data is transmitted in the CAN bus.
Referring to fig. 4, a fourth embodiment of the present application also provides a method for identifying a baud rate of a CAN network, and based on the foregoing embodiments, the present embodiment provides a solution for further reducing network errors, where the method for identifying a baud rate of a CAN network includes:
s41: setting the baud rate of the CAN controller according to a preset standard baud rate table;
s42: judging whether the CAN controller receives data in a CAN bus within a preset first time;
s43: when the CAN controller CAN receive data within a preset first time, identifying that the Baud rate enabling the CAN controller to receive the data is the correct Baud rate, and recording the Baud rate enabling the CAN controller to receive the data;
s44: when the CAN controller cannot receive data within a preset first time and the baud rate in the standard baud rate table is not used completely, the Baud rate of the CAN controller is continuously set according to the preset standard baud rate table
S45: the CAN controller sets the operation mode of the CAN controller to be a non-retransmission mode when the CAN controller cannot receive data within a preset first time and the baud rate in the standard baud rate table is used up, and the CAN controller only transmits the data once when the CAN controller transmits the data in the non-retransmission mode.
In the CAN network, when the Baud rate is set to be wrong, the CAN controller CAN influence the CAN network when actively sending data, the CAN controller CAN actively send data, and when the Baud rate is set to be wrong for too many times, the CAN network CAN generate errors. When the operation mode of the CAN controller is the non-retransmission mode, the CAN controller CAN transmit data, but when the CAN controller transmits data, the data is transmitted only once regardless of whether the data is successfully transmitted or not. Therefore, the method and the device CAN prevent the error counter of the CAN controller from counting for multiple times when the data is not successfully transmitted, and avoid errors caused by excessive counting errors of the error counter to the CAN network due to baud rate errors set by the CAN controller when the data is transmitted, so that the method and the device CAN reduce the errors of the CAN network.
Preferably, before the CAN controller fails to receive data within a preset first time and the baud rate in the standard baud rate table is used up, and the operation mode of the CAN controller is set to be the non-retransmission mode, the method for identifying the baud rate of the CAN network further includes:
initializing the CAN controller.
Namely, the CAN controller is initialized again, so that the successful setting of the non-retransmission mode of the CAN controller CAN be ensured.
S46: and setting the filter of the CAN controller to be in an ID all-out passing mode.
When the ID of the filter of the CAN controller does not pass through the mode at all, no matter which device or equipment sends data, the CAN controller cannot receive the data even if the Baud rate of the CAN controller is set correctly, so that the data sent by the CAN controller cannot be influenced, and the accuracy of CAN network Baud rate identification of the CAN controller is improved.
S47: setting the baud rate of the CAN controller according to a preset standard baud rate table;
s48: controlling the CAN controller to send a frame of data to a CAN bus;
s49: judging whether the CAN controller successfully sends data after a preset second time;
s410: when the CAN controller successfully sends data, identifying that the Baud rate enabling the CAN controller to successfully send the data is the correct Baud rate, and recording the Baud rate enabling the CAN controller to successfully send the data;
s411: and when the CAN controller fails to send data and the baud rate in the standard baud rate table is not used completely, continuing to set the baud rate of the CAN controller according to a preset standard baud rate table.
The method for identifying the baud rate of the CAN network provided by the embodiment CAN ensure that the baud rate of the CAN controller CAN be identified under the condition that no data is transmitted in the CAN bus, and reduces the generation of CAN network errors.
Referring to fig. 5, a fifth embodiment of the present application provides a device 50 for identifying a baud rate of a CAN network, which is used for the baud rate of an unknown CAN network. The CAN network baud rate identification device 50 CAN be applied to a CAN network baud rate identification device apparatus, the CAN network baud rate identification device 50 CAN implement the CAN network baud rate identification method of the foregoing embodiment, the CAN network baud rate identification device 50 includes:
a first baud rate setting module 51, configured to set a baud rate of the CAN controller according to a preset standard baud rate table;
the receiving and judging module 52 is configured to judge whether the CAN controller receives data in a CAN bus within a preset first time;
the first identification module 53 is configured to identify that the baud rate at which the CAN controller CAN receive data is a correct baud rate and record the baud rate at which the CAN controller CAN receive data when the CAN controller CAN receive data in a preset first time;
the first baud rate setting module 54 is further configured to continue to set the baud rate of the CAN controller according to the preset standard baud rate table when the CAN controller cannot receive data within the preset first time and the baud rate in the standard baud rate table is not used up.
The device for identifying the baud rate of the CAN network provided by the embodiment sets the baud rate of the CAN controller according to a preset standard baud rate table; judging whether the CAN controller receives data in a CAN bus within a preset first time; when the CAN controller CAN receive data within a preset first time, identifying that the Baud rate enabling the CAN controller to receive the data is the correct Baud rate, and recording the Baud rate enabling the CAN controller to receive the data; when the CAN controller cannot receive data within a preset first time and the baud rate in the standard baud rate table is not used completely, the baud rate of the CAN controller is continuously set according to the preset standard baud rate table, the baud rate of an unknown CAN network CAN be intelligently and quickly identified, the baud rate identification is accurate, and the identification efficiency is high.
Preferably, the CAN network baud rate identification device 50 further includes:
the controller area network CAN controller comprises a limited mode setting module, a data transmission module and a control module, wherein the limited mode setting module is used for setting the operation mode of the controller area network CAN controller to be a limited operation mode, and when the CAN controller is in the limited operation mode, the CAN controller CAN receive data and cannot transmit the data, and an error counter of the CAN controller does not count when the baud rate is set to be wrong;
and the ID passing module is used for setting the filter of the CAN controller to be in an ID full passing mode.
Preferably, the CAN network baud rate identification device 50 further includes:
and the use judgment module is used for judging whether the baud rate in the standard baud rate table is used up.
Preferably, the CAN network baud rate identification device 50 further includes:
and the initialization module is used for initializing the CAN controller.
Preferably, the CAN network baud rate identification device 50 further includes:
the second baud rate setting module is used for setting the baud rate of the CAN controller according to the preset standard baud rate table;
the sending control module is used for controlling the CAN controller to send frame data to a CAN bus;
the sending judgment module is used for judging whether the CAN controller successfully sends data after a preset second time;
the second identification module is used for identifying that the Baud rate enabling the CAN controller to successfully send data is the correct Baud rate and recording the Baud rate enabling the CAN controller to successfully send data when the CAN controller successfully sends data;
and the second baud rate setting module is further used for continuing to set the baud rate of the CAN controller according to a preset standard baud rate table when the CAN controller fails to send data and the baud rate in the standard baud rate table is not used completely.
Preferably, the CAN network baud rate identification device 50 further includes:
and the non-retransmission mode setting module is used for setting the operation mode of the CAN controller to be a non-retransmission mode when the CAN controller cannot receive data within the preset first time and the baud rate in the standard baud rate table is used up, and the CAN controller only sends the data once when the CAN controller sends the data when the CAN controller does not send the data in the non-retransmission mode.
Preferably, the CAN network baud rate identification device 50 further includes:
and the ID forbidding module is used for setting the filter of the CAN controller to be in an ID all-out-passing mode.
The product can execute the method provided by any embodiment of the application, and has the corresponding functional module and the beneficial effect of the execution method.
Referring to fig. 6, a sixth embodiment of the present application further provides a device and a storage medium for identifying a baud rate of a CAN network, which both have corresponding effects of the method for identifying a baud rate of a CAN network provided in the foregoing embodiments of the present application.
The CAN network baud rate identification device provided by the embodiment of the application comprises a memory 61 and a processor 62, wherein a CAN network baud rate identification program is stored in the memory 61, and the processor 62 realizes the following steps when executing the CAN network baud rate identification program stored in the memory 61:
setting the baud rate of the CAN controller according to a preset standard baud rate table;
judging whether the CAN controller receives data in a CAN bus within a preset first time;
when the CAN controller CAN receive data within a preset first time, identifying that the Baud rate enabling the CAN controller to receive the data is the correct Baud rate, and recording the Baud rate enabling the CAN controller to receive the data;
and when the CAN controller cannot receive data within a preset first time and the baud rate in the standard baud rate table is not used completely, continuing to set the baud rate of the CAN controller according to the preset standard baud rate table.
Preferably, the following steps are also implemented when the processor of the CAN network baud rate identification device executes the CAN network baud rate identification program stored in the memory: setting the operation mode of a Controller Area Network (CAN) controller as a limited operation mode, wherein when the CAN controller is in the limited operation mode, the CAN controller CAN receive data and cannot send data, and an error counter of the CAN controller does not count when the baud rate is set to be wrong; and setting a filter of the CAN controller to be in an ID full-pass mode.
Preferably, the following steps are also implemented when the processor of the CAN network baud rate identification device executes the CAN network baud rate identification program stored in the memory: and judging whether the baud rate in the standard baud rate table is used up or not.
Preferably, the following steps are also implemented when the processor of the CAN network baud rate identification device executes the CAN network baud rate identification program stored in the memory: initializing the CAN controller.
Preferably, the following steps are also implemented when the processor of the CAN network baud rate identification device executes the CAN network baud rate identification program stored in the memory: the method comprises the steps that when the CAN controller cannot receive data within a preset first time and the Baud rate in the standard Baud rate table is used up, the Baud rate of the CAN controller is set according to the preset standard Baud rate table; controlling the CAN controller to send a frame of data to a CAN bus; judging whether the CAN controller successfully sends data after a preset second time; when the CAN controller successfully sends data, identifying that the Baud rate enabling the CAN controller to successfully send the data is the correct Baud rate, and recording the Baud rate enabling the CAN controller to successfully send the data; and when the CAN controller fails to send data and the baud rate in the standard baud rate table is not used completely, continuing to set the baud rate of the CAN controller according to a preset standard baud rate table.
Preferably, the following steps are also implemented when the processor of the CAN network baud rate identification device executes the CAN network baud rate identification program stored in the memory: and setting the operation mode of the CAN controller as a non-retransmission mode, wherein when the CAN controller is in the non-retransmission mode, the CAN controller only transmits data once when transmitting the data.
Preferably, the following steps are also implemented when the processor of the CAN network baud rate identification device executes the CAN network baud rate identification program stored in the memory: and setting the filter of the CAN controller to be in an ID all-out passing mode.
The storage medium provided by the embodiment of the application is a computer-readable storage medium, a Controller Area Network (CAN) baud rate identification program is stored in the computer-readable storage medium, and the CAN baud rate identification program is executed by a processor to specifically realize the following steps:
setting the operation mode of a Controller Area Network (CAN) controller as a limited operation mode, wherein when the CAN controller is in the limited operation mode, the CAN controller CAN receive data and cannot send data, and an error counter of the CAN controller does not count when the baud rate is set to be wrong;
setting a filter of the CAN controller to be in an ID full-pass mode;
setting the baud rate of the CAN controller according to a preset standard baud rate table;
judging whether the CAN controller receives data in a CAN bus within a preset first time;
when the CAN controller CAN receive data within a preset first time, identifying that the Baud rate enabling the CAN controller to receive the data is the correct Baud rate, and recording the Baud rate enabling the CAN controller to receive the data;
and when the CAN controller cannot receive data within a preset first time and the baud rate in the standard baud rate table is not used completely, continuing to set the baud rate of the CAN controller according to the preset standard baud rate table.
Preferably, the CAN network baud rate identification program stored in the computer readable storage medium, when executed by the processor, further specifically implements the following steps: and judging whether the baud rate in the standard baud rate table is used up or not.
Preferably, the CAN network baud rate identification program stored in the computer readable storage medium, when executed by the processor, specifically implements the steps of: initializing the CAN controller.
Preferably, the CAN network baud rate identification program stored in the computer readable storage medium, when executed by the processor, specifically implements the steps of: the CAN controller sets the operation mode of the CAN controller as a non-retransmission mode when the CAN controller cannot receive data within a preset first time and the baud rate in the standard baud rate table is used up, and the CAN controller only transmits the data once when the CAN controller transmits the data when the CAN controller does not transmit the data in the non-retransmission mode; setting the baud rate of the CAN controller according to a preset standard baud rate table; controlling the CAN controller to send a frame of data to a CAN bus; judging whether the CAN controller successfully sends data after a preset second time; when the CAN controller successfully sends data, identifying that the Baud rate enabling the CAN controller to successfully send the data is the correct Baud rate, and recording the Baud rate enabling the CAN controller to successfully send the data; and when the CAN controller fails to send data and the baud rate in the standard baud rate table is not used completely, continuing to set the baud rate of the CAN controller according to a preset standard baud rate table.
Preferably, the CAN network baud rate identification program stored in the computer readable storage medium, when executed by the processor, specifically implements the steps of:
and setting the filter of the CAN controller to be in an ID all-out passing mode.
The computer-readable storage medium includes Random Access Memory (RAM), Memory, Read-Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, Compact disk Read-Only Memory (CD-ROM), or any other form of storage medium known in the art.
For a description of relevant parts in the method, the apparatus, the device, and the computer-readable storage medium for identifying the baud rate of the CAN network provided in the embodiments of the present application, reference is made to the detailed description of the corresponding parts in the method for identifying the baud rate of the CAN network provided in the foregoing embodiments of the present application, which is not repeated herein. In addition, parts of the above technical solutions provided in the embodiments of the present application, which are consistent with the implementation principles of corresponding technical solutions in the prior art, are not described in detail so as to avoid redundant description.
The modules or units described in the embodiments of the present application may be implemented by software or hardware. Where the name of an element does not in some cases constitute a limitation on the element itself.
The above description is only a preferred embodiment of the present application, and not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application, or which are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.

Claims (10)

1. A CAN network baud rate identification method is characterized in that the controller area network CAN network baud rate identification method comprises the following steps:
setting the baud rate of the CAN controller according to a preset standard baud rate table;
judging whether the CAN controller receives data in a CAN bus within a preset first time;
when the CAN controller CAN receive data within a preset first time, identifying that the Baud rate enabling the CAN controller to receive the data is the correct Baud rate, and recording the Baud rate enabling the CAN controller to receive the data;
and when the CAN controller cannot receive data within a preset first time and the baud rate in the standard baud rate table is not used completely, continuing to set the baud rate of the CAN controller according to the preset standard baud rate table.
2. The CAN network baud rate identification method of claim 1, wherein: before the setting the baud rate of the CAN controller according to the preset standard baud rate table, the method further comprises the following steps:
setting the operation mode of a Controller Area Network (CAN) controller as a limited operation mode, wherein when the CAN controller is in the limited operation mode, the CAN controller CAN receive data and cannot send data, and an error counter of the CAN controller does not count when the baud rate is set to be wrong;
and setting a filter of the CAN controller to be in an ID full-pass mode.
3. The CAN network baud rate identification method of claim 1, wherein: before the setting the operation mode of the Controller Area Network (CAN) controller to be the limited operation mode, the method further comprises the following steps:
initializing the CAN controller.
4. The CAN network baud rate identification method of claim 1, wherein: when the baud rate in the standard baud rate table is used up and the CAN controller cannot receive data within the preset first time, the method further comprises the following steps:
the method comprises the steps that when the CAN controller cannot receive data within a preset first time and the Baud rate in the standard Baud rate table is used up, the Baud rate of the CAN controller is set according to the preset standard Baud rate table;
controlling the CAN controller to send a frame of data to a CAN bus;
judging whether the CAN controller successfully sends data after a preset second time;
when the CAN controller successfully sends data, identifying that the Baud rate enabling the CAN controller to successfully send the data is the correct Baud rate, and recording the Baud rate enabling the CAN controller to successfully send the data;
and when the CAN controller fails to send data and the baud rate in the standard baud rate table is not used completely, continuing to set the baud rate of the CAN controller according to a preset standard baud rate table.
5. The CAN network baud rate identification method of claim 4, wherein: before the setting the baud rate of the CAN controller according to the preset standard baud rate table, the method further comprises the following steps:
and setting the operation mode of the CAN controller as a non-retransmission mode, wherein when the CAN controller is in the non-retransmission mode, the CAN controller only transmits data once when transmitting the data.
6. The CAN network baud rate identification method of claim 5, wherein before setting the baud rate of the CAN controller according to the preset standard baud rate table, the method further comprises:
and setting the filter of the CAN controller to be in an ID all-out passing mode.
7. The CAN network baud rate identification method of claim 4, wherein:
the baud rates in the standard baud rate table are arranged from large to small.
8. The CAN network baud rate identification device is characterized by comprising the following components:
the first baud rate setting module is used for setting the baud rate of the CAN controller according to a preset standard baud rate table;
the receiving and judging module is used for judging whether the CAN controller receives data in a CAN bus within a preset first time;
the first identification module is used for identifying that the Baud rate enabling the CAN controller to receive the data is the correct Baud rate and recording the Baud rate enabling the CAN controller to receive the data when the CAN controller CAN receive the data in a preset first time;
the first baud rate setting module is further used for continuing to set the baud rate of the CAN controller according to the preset standard baud rate table when the CAN controller cannot receive data within the preset first time and the baud rate in the standard baud rate table is not used up.
9. The CAN network baud rate identification device is characterized by comprising:
the memory is used for storing a CAN network baud rate identification program;
a processor for implementing the CAN network baud rate identification method of any one of claims 1 to 7 when executing the CAN network baud rate identification program.
10. A storage medium which is a computer-readable storage medium, wherein a CAN network baud rate identification program is stored in the storage medium, and the CAN network baud rate identification program, when executed by a processor, implements the CAN network baud rate identification method according to any one of claims 1 to 7.
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