CN112866072A - Control method for CAN bus ID distribution - Google Patents
Control method for CAN bus ID distribution Download PDFInfo
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- 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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
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Abstract
The invention discloses a control method for CAN bus ID distribution, which is characterized in that node equipment generates random SN codes and IDs by itself, the SN codes and IDs of the node equipment are compared with those of other equipment, and the SN codes and IDs of the node equipment of a CAN bus are adjusted when repeated conflicts occur, so that the SN codes and IDs of all the node equipment on the CAN bus are not repeated, and the ID distribution of the CAN bus is realized. Compared with the prior art, the method does not need to preset the main equipment, does not need the support of hardware signals, and has convenient control and low cost.
Description
Technical Field
The invention relates to the technical field of CAN buses, in particular to a control method for distributing CAN bus IDs.
Background
The CAN bus (controller area network bus) has been widely used in the fields of electric vehicles, industrial automation, smart home and other industries because of its advantages of strong real-time performance, long transmission distance, strong anti-electromagnetic interference capability, low cost and the like, and generally, the CAN bus is used as a bus structure in a master-slave mode or a multi-master mode, and its bus protocol requires that the ID numbers of all nodes on its bus network have uniqueness.
As shown in fig. 1, which is a prior art allocation manner of ID numbers of a CAN bus, a master node sends a PWM signal to a first slave node connected thereto through a signal line; the host node receives a PWM signal sent by the last slave node through a signal line to judge whether ID configuration is completed; the slave node sends a PWM signal to a next-level slave node or a host node connected with the slave node through a signal line; the PWM signals sent by the master node and each slave node have the same frequency but different duty ratios; and the slave node sets a corresponding ID according to the duty ratio of the PWM signal sent by the previous node.
However, the prior art has the problems that the addition of the 2-path PWM signal is needed, and the PMW signal is generally received and output by the MCU, which occupies MCU resources; when the ID assignment is performed using the device, 2 additional signal lines are required to be added to the external interface of the device to perform the ID assignment, and the added signal lines cause an increase in cost.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a control method for CAN bus ID assignment, so as to solve the technical problems of MCU resource occupation and cost increase in the prior art.
The technical solution of the present invention is a control method for CAN bus ID assignment, comprising,
s1: each node device on the CAN bus generates an SN code and an ID thereof, and the packet sends a CAN message to the outside;
the node equipment monitors CAN messages of other node equipment on the CAN bus to obtain SN codes and IDs of the other node equipment, and generates a record table according to online time;
s2: each node device detects whether the generated SN code and ID are repeated with the SN codes and IDs of other node devices in the record table;
s3: and if the duplication is detected, carrying out repeated conflict processing until the SN code and the ID of each node device on the current CAN bus are not duplicated, and finishing the ID distribution of the node devices on the current CAN bus.
Preferably, before the step S1, further comprising,
when a certain node device is powered on, the node device enters an information receiving stage with preset time length, in the information receiving stage, the node device records SN codes and ID numbers of other node devices on a CAN bus and generates a record table according to the on-line time,
in step S1, the node device generates the self SN code and the ID according to the record table.
Preferably, if the occurrence of the duplicate condition is detected, the performing of the duplicate collision processing specifically includes:
if the ID of the node equipment is not distributed completely, and the SN code of the node equipment is repeated with the SN codes of other node equipment on the CAN bus, the node equipment regenerates a new SN code until the SN code of the node equipment is not repeated with the SN codes of other node equipment on the CAN bus;
and if the ID of the node equipment is already distributed, and the SN code of the node equipment is repeated with the SN codes of other node equipment on the CAN bus, the SN code of the node equipment is kept unchanged.
Preferably, the step of generating the SN code of the node device itself specifically includes:
the node equipment carries out a set algorithm according to the ID of the control unit of the node equipment so as to generate an SN code of the node equipment;
and if the generated SN code is repeated with SN codes of other node equipment on the CAN bus, the node equipment adopts a software technology to reconstitute a new SN code.
Preferably, when it is detected that neither the SN code of a certain node device nor the SN codes of other node devices on the CAN bus have repeated collision, after a preset duration, the ID collision detection of the node device is entered.
Preferably, if the ID of the node device is not completely allocated, and the ID of the node device is repeated with the IDs of other node devices on the CAN bus, the node device regenerates a new ID code until the ID code of the node device is not repeated with the IDs of other node devices on the CAN bus;
if the ID of the node equipment is already distributed, the ID code of the node equipment is repeated with the ID codes of other node equipment on the CAN bus, and the ID code of the node equipment is kept unchanged.
Preferably, if the ID of the node device is not completely allocated, and the ID of the node device is repeated with IDs of other node devices on the CAN bus, the step of regenerating a new ID code by the node device specifically includes:
analyzing all node equipment IDs in the record table of the node equipment, eliminating the assigned node equipment IDs, and then, obtaining an adaptive ID again according to the ID with conflict in the record table and the SN code of the node equipment;
and detecting the newly acquired ID and the IDs of other node devices until the selected ID of the node device and the IDs of other node devices on the CAN bus do not have repeated conflict.
Preferably, when the ID of the node device and the IDs of other node devices on the CAN bus do not have repeated conflicts and last for a preset time, the ID generated by the node device is used as the ID of the node device itself.
Preferably, after step S3, the method further includes:
after the ID distribution of the current node equipment on the CAN bus is finished, each node equipment sends a heartbeat broadcast frame to the outside in real time, and each node equipment monitors the sending messages of other node equipment on the CAN bus in real time and detects whether the messages are repeated.
Preferably, when a node device receives the heartbeat broadcast frame in the information receiving stage, the node device regards as a device which joins the CAN bus after the node device completes the ID assignment for the current node device,
when the node equipment which is not allocated with the ID or the SN code and is added later generates repeated conflict with the node equipment which is allocated with the ID or the SN code, the node equipment which is not allocated with the ID or the SN code and is added later regenerates the equipment ID or the SN code;
when the node apparatus to join later is in the node apparatus ID assignment end state, the two or more conflicting node apparatuses return to step S1 again to start the node apparatus ID assignment.
Preferably, when the SN code and the ID of a certain node device are not updated within a predetermined time, the node device information is removed from the record table when other node devices monitor the record.
Preferably, in the ID assignment process, when all node devices of the CAN bus transmit the application device ID for the first time, random transmission delays are respectively set in the broadcast frame of each node device.
By adopting the control method for the ID distribution of the CAN bus, the node equipment generates random SN codes and IDs by itself, compares the SN codes and IDs of the node equipment with those of other equipment, and adjusts the SN codes and IDs of the node equipment of the CAN bus when repeated collision occurs so that the SN codes and IDs of all the node equipment on the CAN bus are not repeated, thereby realizing the ID distribution of the CAN bus. Compared with the prior art, the method does not need to preset the main equipment and support of hardware signals, thereby occupying no MCU resource, being convenient to control and having low cost.
Drawings
FIG. 1 is a schematic diagram of ID number assignment of a CAN bus in the prior art;
FIG. 2 illustrates a method for controlling ID assignment of a CAN bus according to the present invention;
fig. 3 is a schematic diagram of ID assignment of a CAN bus according to the present invention.
Detailed Description
Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, but the present invention is not limited to only these embodiments. The invention is intended to cover alternatives, modifications, equivalents and alternatives which may be included within the spirit and scope of the invention.
In the following description of the preferred embodiments of the present invention, specific details are set forth in order to provide a thorough understanding of the present invention, and it will be apparent to those skilled in the art that the present invention may be practiced without these specific details.
The invention is described in more detail in the following paragraphs by way of example with reference to the accompanying drawings. It should be noted that the drawings are in simplified form and are not to precise scale, which is only used for convenience and clarity to assist in describing the embodiments of the present invention.
Fig. 2 is a control method for ID assignment of a CAN bus according to the present invention, and fig. 3 is a schematic diagram of ID assignment of a CAN bus according to the present invention. In the embodiment of the present invention, as shown in fig. 3, the CAN bus is a network bus, and includes a low-channel bus and a high-channel bus, and a plurality of node devices are respectively connected to the low-channel bus and the high-channel bus, and are respectively marked as 1 to n node devices.
Here, the control method including CAN bus ID assignment includes the steps of 1: each node device on the CAN bus generates an SN code and an ID thereof, and the packet sends a CAN message to the outside; and the node equipment monitors CAN messages of other node equipment on the CAN bus to obtain SN codes and IDs of other node equipment, and generates a record table according to online time. Here, the CAN packet is a packet including an SN code and an ID of the node device itself, and may be represented by a byte symbol, for example. Here, each node device obtains other node device information and generates its own required SN code and ID through its own control unit such as MCU.
Generally, before step S1, the method further includes entering an information receiving stage with a preset duration after a certain node device is powered on, where in the information receiving stage, the node device records SN codes and ID numbers of other node devices on the CAN bus and generates a record table according to online time, and in step S1, the node device generates the SN code and ID of the node device according to the record table. Here, the record table is a record information table recorded by the node device for the first time, and in step 1, the record table is updated for this time, because the record table information of the control unit is updated in real time during the operation.
And then, entering step 2, and detecting whether the generated SN code and ID of each node device are overlapped with the SN codes and IDs of other node devices in the record table or not by each node device. Here, the control unit detects whether duplication occurs by comparison.
Then, the process proceeds to step 3: and if the control unit detects that the node equipment is repeated, performing repeated conflict processing until the SN code and the ID of each node equipment on the current CAN bus are not repeated, and finishing the ID distribution of the node equipment on the current CAN bus.
Specifically, the repeated collision processing specifically includes: if the ID of the node equipment is not distributed completely, and the SN code of the node equipment is repeated with the SN codes of other node equipment on the CAN bus, the node equipment regenerates a new SN code until the SN code of the node equipment is not repeated with the SN codes of other node equipment on the CAN bus; and if the ID of the node equipment is already distributed, and the SN code of the node equipment is repeated with the SN codes of other node equipment on the CAN bus, the SN code of the node equipment is kept unchanged. That is, the node device whose ID assignment is completed has a higher priority than the node device that is not assigned, and when the node device whose ID assignment is completed collides with the node device that is not assigned, the node device whose ID assignment is completed is changed by the node device that is not assigned, and the node device whose ID assignment is completed remains unchanged.
Here, the step of specifically generating, by a node device that needs to change its own SN code, an SN code of the node device itself includes: the node device generates its own SN code according to its own control unit (such as MCU) ID by using a set algorithm, which may be but not limited to a hash algorithm; if the generated SN code is repeated with SN codes of other node devices on the CAN bus, the node randomly generates an SN code again by adopting a software technology, for example, the software technology is to reconstruct a new SN code by taking a timer of a control unit of the node device as a random seed.
For example, the node device first performs a hash algorithm on the control unit MCU ID (stm 32 is taken as an example, the MCU ID is 96bit) to generate an SN code; if the SN code generated by the Hash algorithm is repeated with SN codes of other node devices, the SN code obtained after the unique CPU ID is subjected to algorithm processing has the repetition with extremely low probability, and then a new SN code is formed again by taking a timer of a control unit chip as a seed, for example, a CAN data field (64bit) is formed:
| MCU function code | ID | SN code |
| Nbit | Mbit | (64–N-M)bit |
Here, the function code is used for performing the auxiliary process, but is not required to be added, and the ID number occupies 2 bits if the maximum number is 3 according to the bit occupied by the maximum node number of the self system. Thus, the SN code can obtain the maximum length, and the larger the length, the lower the probability of repetition.
And then, when the SN code of a certain node device and the SN codes of other node devices on the CAN bus are detected to have no repeated conflict, and after the preset duration, the ID conflict detection of the node device is started. Here, the predetermined time period is a custom setting, and may be set to several milliseconds or several microseconds or several seconds.
The ID collision detection follows the following rules: if the ID of the node equipment is not distributed completely, and the ID of the node equipment is repeated with the IDs of other node equipment on the CAN bus, the node equipment regenerates a new ID code until the ID code of the node equipment is not repeated with the IDs of other node equipment on the CAN bus; if the ID of the node equipment is already distributed, the ID code of the node equipment is repeated with the ID codes of other node equipment on the CAN bus, and the ID code of the node equipment is kept unchanged. That is, the node device whose ID assignment ends has a higher priority than the unassigned node device.
Specifically, the regenerating of the new ID code by the node device includes: analyzing all node equipment IDs in the record table of the node equipment, eliminating the assigned node equipment IDs, and then, obtaining an adaptive ID again according to the ID with conflict in the record table and the SN code of the node equipment; and detecting the newly acquired ID and the IDs of other node devices until the selected ID of the node device and the IDs of other node devices on the CAN bus do not have repeated conflict.
And when the ID of the node equipment and the IDs of other node equipment on the CAN bus do not have repeated conflict and last for a preset time, taking the ID generated by the node equipment as the ID of the node equipment. The preset time period is a self-defined setting and can be set to be a few milliseconds or a few microseconds or a few seconds. So far, all node devices on the current CAN network bus are allocated with IDs through collision detection and adjustment. As can be seen from fig. 3, the allocation method of the embodiment of the present invention does not need to add additional PWM data lines, and does not occupy more MCU resources. The distribution mode is free and flexible, the control is convenient, and the cost is low.
And finally, after the distribution is finished and the ID distribution of the current node equipment on the CAN bus is finished, each node equipment sends a heartbeat broadcast frame to the outside in real time, and each node equipment monitors the sending messages of other node equipment on the CAN bus in real time and detects whether the repetition occurs. Here, the heartbeat broadcast frame is a timing transmission data frame.
If node equipment on the current CAN network bus is distributed completely, node equipment is added, at the moment, when certain node equipment receives a heartbeat broadcast frame in an information receiving stage, the node equipment is considered to be equipment added into the CAN bus after the current node equipment ID distribution is completed, and when repeated conflict is generated between node equipment which is added later and is not distributed with an ID or an SN code and the node equipment which is distributed with the ID or the SN code, the node equipment which is added later and is not distributed with the ID or the SN code regenerates the equipment ID or the SN code; the generation rule is consistent with the foregoing. When the node device joining later is in the node device ID assignment end state, two or more conflicting node devices return to step 1 again to start device ID assignment.
Preferably, when the SN code and the ID of a certain node device are not updated within a predetermined time period, the node device is removed from the record table when the node device is recorded by other node devices. Here, the node device is not used for a long time, and occupies an ID resource. Therefore, the node information is removed to cover the node equipment information added later, or conflict comparison is carried out on overtime invalid node information when conflict detection is avoided, and the ID distribution efficiency is reduced.
And finally, in the distribution process, the ID collision of two or more CAN frames inevitably occurs, so that the data field filling error occurs, and therefore the node and equipment ID distribution efficiency is influenced. Therefore, the CAN bus CAN receive the information of only one node device at the current time as far as possible, and the error probability is reduced.
The above-described embodiments do not limit the scope of the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the above-described embodiments should be included in the protection scope of the technical solution.
Claims (12)
1. A control method for CAN bus ID assignment, comprising,
s1: each node device on the CAN bus generates an SN code and an ID thereof, and the packet sends a CAN message to the outside;
the node equipment monitors CAN messages of other node equipment on the CAN bus to obtain SN codes and IDs of the other node equipment, and generates a record table according to online time;
s2: each node device detects whether the generated SN code and ID are repeated with the SN codes and IDs of other node devices in the record table;
s3: and if the duplication is detected, carrying out repeated conflict processing until the SN code and the ID of each node device on the current CAN bus are not duplicated, and finishing the ID distribution of the node devices on the current CAN bus.
2. The control method according to claim 1, further comprising, before step S1,
when a certain node device is powered on, the node device enters an information receiving stage with preset time length, in the information receiving stage, the node device records SN codes and ID numbers of other node devices on a CAN bus and generates a record table according to the on-line time,
in step S1, the node device generates the self SN code and the ID according to the record table.
3. The control method according to claim 1, wherein, when the occurrence of the duplication condition is detected, the performing of the duplication collision processing specifically includes:
if the ID of the node equipment is not distributed completely, and the SN code of the node equipment is repeated with the SN codes of other node equipment on the CAN bus, the node equipment regenerates a new SN code until the SN code of the node equipment is not repeated with the SN codes of other node equipment on the CAN bus;
and if the ID of the node equipment is already distributed, and the SN code of the node equipment is repeated with the SN codes of other node equipment on the CAN bus, the SN code of the node equipment is kept unchanged.
4. The control method according to claim 3, wherein the step of generating the SN code of the node device itself specifically includes:
the node equipment carries out a set algorithm according to the ID of the control unit of the node equipment so as to generate an SN code of the node equipment;
and if the generated SN code is repeated with SN codes of other node equipment on the CAN bus, the node equipment adopts a software technology to reconstitute a new SN code.
5. The control method according to claim 3, wherein when it is detected that neither the SN code of a node device nor the SN codes of other node devices on the CAN bus have repeated collisions for a preset duration, the ID collision detection of the node device is entered.
6. The control method according to claim 5,
if the ID of the node equipment is not distributed completely, and the ID of the node equipment is repeated with the IDs of other node equipment on the CAN bus, the node equipment regenerates a new ID code until the ID code of the node equipment is not repeated with the IDs of other node equipment on the CAN bus;
if the ID of the node equipment is already distributed, the ID code of the node equipment is repeated with the ID codes of other node equipment on the CAN bus, and the ID code of the node equipment is kept unchanged.
7. The control method according to claim 6, wherein if the ID of the node device is not completely assigned, and the ID of the node device is duplicated with IDs of other node devices on the CAN bus, the step of the node device regenerating a new ID code specifically includes:
analyzing all node equipment IDs in the record table of the node equipment, eliminating the assigned node equipment IDs, and then, obtaining an adaptive ID again according to the ID with conflict in the record table and the SN code of the node equipment;
and detecting the newly acquired ID and the IDs of other node devices until the selected ID of the node device and the IDs of other node devices on the CAN bus do not have repeated conflict.
8. The control method according to claim 7,
and when the ID of the node equipment and the IDs of other node equipment on the CAN bus do not have repeated conflict and last for a preset time, taking the ID generated by the node equipment as the ID of the node equipment.
9. The control method according to claim 2, further comprising, after step S3:
after the ID distribution of the current node equipment on the CAN bus is finished, each node equipment sends a heartbeat broadcast frame to the outside in real time, and each node equipment monitors the sending messages of other node equipment on the CAN bus in real time and detects whether the messages are repeated.
10. The control method according to claim 9,
when a node device receives the heartbeat broadcast frame in the information receiving stage, the node device is considered to be a device which joins the CAN bus after the ID distribution of the current node device is completed,
when the node equipment which is not allocated with the ID or the SN code and is added later generates repeated conflict with the node equipment which is allocated with the ID or the SN code, the node equipment which is not allocated with the ID or the SN code and is added later regenerates the equipment ID or the SN code;
when the node apparatus to join later is in the node apparatus ID assignment end state, the two or more conflicting node apparatuses return to step S1 again to start the node apparatus ID assignment.
11. The control method according to claim 1, wherein when the SN code and the ID of a node device are not updated within a predetermined time period, other node devices remove the node device information from the record table while monitoring the record.
12. The control method according to claim 1, wherein in the ID assignment process, when all node devices of the CAN bus transmit the application device ID for the first time, random transmission delays are respectively set for the broadcast frames of the node devices.
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