CN113328919A - CAN bus identifier, communication method and communication system - Google Patents
CAN bus identifier, communication method and communication system Download PDFInfo
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- CN113328919A CN113328919A CN202110589462.1A CN202110589462A CN113328919A CN 113328919 A CN113328919 A CN 113328919A CN 202110589462 A CN202110589462 A CN 202110589462A CN 113328919 A CN113328919 A CN 113328919A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L63/00—Network architectures or network communication protocols for network security
- H04L63/04—Network architectures or network communication protocols for network security for providing a confidential data exchange among entities communicating through data packet networks
- H04L63/0428—Network architectures or network communication protocols for network security for providing a confidential data exchange among entities communicating through data packet networks wherein the data content is protected, e.g. by encrypting or encapsulating the payload
- H04L63/0435—Network architectures or network communication protocols for network security for providing a confidential data exchange among entities communicating through data packet networks wherein the data content is protected, e.g. by encrypting or encapsulating the payload wherein the sending and receiving network entities apply symmetric encryption, i.e. same key used for encryption and decryption
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04J—MULTIPLEX COMMUNICATION
- H04J3/00—Time-division multiplex systems
- H04J3/02—Details
- H04J3/06—Synchronising arrangements
- H04J3/062—Synchronisation of signals having the same nominal but fluctuating bit rates, e.g. using buffers
- H04J3/0632—Synchronisation of packets and cells, e.g. transmission of voice via a packet network, circuit emulation service [CES]
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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
- 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
本发明公开了一种CAN总线标识符、通信方法以及通信系统，属于CAN总线通信技术领域；其包括：CAN总线报文的标识符部分按功能划分为报文索引区、计数区以及同步标志位；报文索引区：用于存储当前报文的报文索引号；计数区：用于存储与所述报文索引号相同的报文计数结果，针对不同的索引号分别计数；同步标志位：用于表示当前报文数据加密情况；发送方在计数区针对特定报文索引进行循环计数，接收方接收到报文后，与预期的计数值对比，判断是否出现丢包等异常，达到保持数据同步的目的，同时不增加总线负载。在CAN、CAN‑FD报文标识符中引入计数区，收发双方根据计数进行数据同步，解决采用流密码情况下通信过程中数据不同步的问题。
The invention discloses a CAN bus identifier, a communication method and a communication system, belonging to the technical field of CAN bus communication. The invention includes: an identifier part of a CAN bus message is divided into a message index area, a count area and a synchronization flag according to functions ; Message index area: used to store the message index number of the current message; Counting area: used to store the same message count result as the message index number, counting separately for different index numbers; Synchronization flag bit: It is used to indicate the current encryption of packet data; the sender performs cyclic counting for a specific packet index in the counting area, and after receiving the packet, the receiver compares it with the expected count value to determine whether there is any abnormality such as packet loss, so as to maintain the data. synchronization purpose without increasing the bus load. A count area is introduced into the CAN and CAN-FD message identifiers, and the sender and the receiver synchronize data according to the count, which solves the problem of data asynchrony in the communication process when stream ciphers are used.
Description
Technical Field
The invention relates to a CAN bus identifier, a communication method and a communication system, and belongs to the technical field of CAN bus communication.
Background
At present, bus communication at home and abroad is more and more widely applied, and especially in the industries of automobiles and engineering machinery, CAN and CAN-FD bus communication is particularly important in data transmission occasions with high real-time requirements. The CAN and CAN-FD buses adopt a communication mode of non-destructive bus arbitration technology, carrier monitoring and CSMA/CA, and the bus arbitration mode allows any node on the bus to have an opportunity to acquire the control right of the bus and send data outwards. If 2 or more than 2 nodes request to send data at the same time, bus collisions occur and the CAN bus CAN detect these collisions and arbitrate them in real time so that data with high priority CAN be transmitted without any damage.
At present, plaintext communication is mostly used in CAN and CAN-FD buses, data safety is low, products are easy to copy, and a better solution is achieved by adopting a symmetric cryptographic algorithm. When the stream cipher algorithm in the symmetric cipher algorithm is adopted, because the cipher keys adopted by each CAN message and each CAN-FD message are different and the cipher keys are not transmitted through a bus, whether the messages of the two communication parties are correctly synchronized needs to be judged, otherwise, data decryption errors occur, and normal communication is influenced.
In order to solve the above problems, the present application proposes a CAN bus identifier, a communication method, and a communication system.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, provides a CAN bus identifier, a communication method and a communication system, and solves the technical problems that the existing CAN bus has low safety when plaintext communication is adopted, and decoding errors are easily caused by asynchronous communication when a stream cipher algorithm is adopted, and normal communication is finally influenced.
In order to achieve the purpose, the invention is realized by adopting the following technical scheme:
in a first aspect, the present invention provides a CAN bus identifier, the identifier comprising:
a message index area: the message index is used for storing the current message;
counting area: the message index counting module is used for storing a message index counting result with the same type as the message index;
and (3) synchronizing the zone bit: used for representing the encryption condition of the current message data.
Further, the identifier includes a standard frame identifier and an extended frame identifier.
Further, the standard frame identifier includes a 7-bit packet index area, a 3-bit count area, and a 1-bit synchronization flag.
Further, the extended frame identifier includes a 20-bit packet index area, an 8-bit count area, and a 1-bit synchronization flag.
Further, when the synchronization flag bit is 0, the current message data is not encrypted; and when the synchronous flag bit is 1, the encryption of the current message data is represented.
In a second aspect, the present invention provides a packet sending method, including:
collecting a message to be sent;
generating the CAN-bus identifier of any of the first aspect;
judging whether a message to be sent needs to be encrypted according to a preset communication protocol:
if encryption is not needed, combining the message index area and the counting area into a new message index area, and adding the updated CAN bus identifier to a message to be sent for sending;
if the encryption is needed, executing a message encryption process to obtain a ciphertext; and updating the counting result of the message index stored in the counting area according to the message index in the ciphertext, and adding the updated CAN bus identifier to the ciphertext to send.
Further, the method comprises the steps of collecting the message to be sent, and then arranging the message to be sent into a required format according to the requirements of a preset communication protocol.
Furthermore, the counting area counts the counting result of the message index by adopting a circular counting mode, and when the counting result of the message index reaches the upper limit value of the counting area, the counting area starts counting from 0 again.
In a third aspect, the present invention provides a message receiving method, including:
acquiring a message to be received through a monitoring network;
judging whether the current message is an encrypted message according to the synchronous flag bit of the identifier in the message to be received:
if the message to be received is not an encrypted message, directly receiving the message;
if the message to be received is an encrypted message, obtaining a message index counting result of the current received message through a counting area of an identifier in the encrypted message: if the message index counting result is the same as the preset message index counting result, executing a message decryption process to receive and acquire a plaintext corresponding to the encrypted message; otherwise, continuing to acquire the message to be received through the monitoring network;
wherein the identifier is the CAN bus identifier of the first aspect.
In a fourth aspect, the present invention provides a CAN bus communication system comprising a plurality of ECU nodes connected to a CAN bus;
when the ECU node is used as a message sender, the message can be sent by adopting the message sending method of any one of the second aspect;
when the ECU node is used as a message receiver, the message receiving method of the third aspect may be used to receive a message.
Compared with the prior art, the invention has the following beneficial effects:
the invention provides a CAN bus identifier, a communication method and a communication system, which are suitable for CAN and CAN-FD bus communication, wherein the CAN and CAN-FD identifiers are divided into a message index area, a synchronous zone bit and a counting area 3 according to functions, when a message is sent, a sender carries out cycle counting on a specific message index in the counting area, and after the message is received by a receiver, the receiver compares the message with an expected counting value to judge whether the abnormity such as packet loss occurs or not, so that the aim of keeping data synchronous is fulfilled, and meanwhile, the bus load is not increased. A counting area is introduced into CAN and CAN-FD message identifiers, and a transmitting party and a receiving party perform data synchronization according to counting, so that the problem of data asynchronization in the communication process under the condition of adopting stream ciphers is solved.
Drawings
FIG. 1 is a schematic diagram of a bus tag structure according to a first embodiment of the present invention;
fig. 2 is a diagram illustrating a standard frame identifier allocation method according to a first embodiment of the present invention;
fig. 3 is a schematic diagram illustrating an extended frame identifier allocation method according to a first embodiment of the present invention;
fig. 4 is a flowchart of a message sending method according to a second embodiment of the present invention;
fig. 5 is a flowchart of a message receiving method according to a third embodiment of the present invention;
fig. 6 is a schematic connection diagram of a CAN bus communication system according to a fourth embodiment of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
Abbreviations and Key term definitions in the following examples
CAN- - -Controller Area Network
The CAN-FD- - -CAN with Flexible Data rate Data section with variable baud rate CAN be simply regarded as an upgrading version of the traditional CAN.
MCU- -Microcontroller Unit micro control Unit, also called singlechip
The ECU-Electronic Control Unit is composed of a Microprocessor (MCU), a memory (ROM, RAM), an input/output interface (I/O), an analog-to-digital converter (A/D), a shaping and driving large-scale integrated circuit and the like.
Stream cipher: stream Cipher (Stream Cipher), also known as sequential Cipher, is one type of symmetric Cipher algorithm. The sequence cipher has the characteristics of simple realization, convenient hardware implementation, high encryption and decryption processing speed, no or limited error propagation and the like, so the sequence cipher has advantages in practical application, particularly in special or confidential organizations, and typical application fields comprise wireless communication and bus communication.
The first embodiment is as follows:
the present embodiment provides a CAN bus identifier, where the identifier includes:
a message index area: the message index is used for storing the current message;
counting area: the message index counting module is used for storing the message index counting result with the same type as the message index;
and (3) synchronizing the zone bit: used for representing the encryption condition of the current message data.
As shown in fig. 1, a schematic diagram of a CAN data frame structure applicable to this embodiment, the method of the present invention is applicable to a CAN bus (11-bit standard frame and 29-bit extended frame identifier), and a CAN-FD, where a CAN data frame is composed of a frame start, an arbitration segment, a control segment, a data segment, a CRC segment, an ACK segment, and a frame end, and the identifier belongs to the arbitration segment;
as shown in fig. 2, the schematic diagram of the standard frame identifier allocation method of the present invention includes 11 bits (bit), which are bits 10-0, and 7 bits in total, which are bits 10-4, are packet index areas, and the value range is 0-127, so that the network supports a maximum of 128 packets; 3 bits of bit 3-bit 1 are a counting area, and the value range is 0-7, so that each cycle is 8 messages, and then starting from 0 again; bit0 is a synchronization flag bit, the synchronization flag bit is 0 to represent that the current message data is not encrypted, and the synchronization flag bit is 1 to represent that the current message data is encrypted;
fig. 3 shows a schematic diagram of the method for allocating an extended frame identifier according to the present invention, which has a total of 29 bits (bit), i.e., bit 28-bit 0, and bit 28-bit 9, i.e., 20 bits in total, i.e., a packet index area, with a value range of 0-220-1, so that the network supports a maximum of 220 (1048576) packets; 8 bits of bit 8-bit 1 are a counting area, and the value range is 0-255, so that each cycle is 256 messages, and then starting from 0 again; bit0 is a synchronization flag bit, the synchronization flag bit is 0 to represent that the current message data is not encrypted, and the synchronization flag bit is 1 to represent that the current message data is encrypted. And under the condition that the current message data is not encrypted, the synchronization flag bit is 0.
Example two:
the embodiment provides a message sending method, as shown in fig. 4, including:
the message to be sent is collected,
arranging the message to be sent into a required format according to the requirements of a preset communication protocol;
generating a CAN bus identifier as in embodiment one;
judging whether a message to be sent needs to be encrypted according to a preset communication protocol:
if encryption is not needed, combining the message index area and the counting area into a new message index area, and adding the updated CAN bus identifier to a message to be sent for sending; this is more flexible and can be applied to more complex networks. The method can realize the data sequence synchronization of the receiving and transmitting parties without increasing the number of messages and the bus load;
if the encryption is needed, executing a message encryption process to obtain a ciphertext; and updating the message index counting result stored in the counting area according to the message index in the ciphertext (counting the message index counting result by the counting area in a cycle counting mode, and counting the counting area from 0 again when the message index counting result reaches the upper limit value of the counting area), and adding the updated CAN bus identifier into the ciphertext to be transmitted.
Example three:
the embodiment provides a message receiving method, as shown in fig. 5, including:
acquiring a message to be received through a monitoring network;
judging whether the current message is an encrypted message according to the synchronous flag bit of the identifier in the message to be received:
if the message to be received is not an encrypted message, directly receiving the message;
if the message to be received is an encrypted message, obtaining a message index counting result of the current received message through a counting area of an identifier in the encrypted message: if the message index counting result is the same as the preset message index counting result, executing a message decryption process to receive and acquire a plaintext corresponding to the encrypted message; otherwise, continuing to acquire the message to be received through the monitoring network;
wherein, the identifier is a CAN bus identifier in the first embodiment.
The stream cipher has the characteristics that the encryption security is very high, and the cipher keys of the message data of each frame are different, so that the message receiver needs to generate the cipher key the same as that of the message sender to correctly decrypt the ciphertext data to obtain plaintext data. This requires that the sender and the receiver use the same key generation method, and the receiver and the sender can synchronize the data sequence, and once the data sequence is not synchronized, for example, the number of data packets is inconsistent, data packet is lost, and reception fails due to different starting times of the sender or the receiver, the system cannot work normally, so that a count is maintained for each functional data packet (a packet with the same index), and the data synchronization is indicated when the counts of the sender and the receiver are the same.
Example four:
the present embodiment provides a CAN bus communication system, as shown in fig. 6, including a plurality of ECU nodes connected to a CAN bus;
when the ECU node is used as a message sender, the message sending method of the second embodiment can be used to send a message;
when the ECU node is used as a message receiver, the message receiving method of the third embodiment can be used to receive a message.
In the CAN bus circuit, two terminal resistors for eliminating signal reflection are connected between a CAN _ H and a CAN _ L, the communication system comprises a plurality of ECU units which are connected in parallel between the CAH _ H and the CAN _ L, each ECU unit CAN be used for a plurality of message sending parties or a plurality of message receiving parties, and identifiers of the messages are distributed by adopting any identifier distribution method.
Each ECU unit may have a plurality of transmission messages and a plurality of reception messages, and the message indexes thereof are different, and these messages may be periodically transmitted or event type messages, and are counted respectively for different message indexes. The sending messages are all in a broadcast mode, when other ECU units receive the messages sent by a certain ECU unit, the value of a synchronous flag bit is judged, if the synchronous flag bit is 0, the data is not encrypted, a decryption program is not required to be executed, if the synchronous flag bit is 1, the value of a counting area is extracted, the data synchronization judgment is carried out, then a corresponding secret key is generated, and data decryption is carried out to obtain plaintext data for functional processing.
In summary, the present invention provides a CAN bus identifier allocation method, a communication system and a communication method using stream cipher, which are applicable to CAN and CAN-FD bus communication, the method divides the CAN and CAN-FD identifiers into a message index area, a synchronization flag bit and a counting area 3 according to functions, when sending a message, a sender performs a cycle counting for a specific message index in the counting area, after receiving the message, a receiver compares the message with an expected count value to determine whether an anomaly such as packet loss occurs, thereby achieving the purpose of keeping data synchronous without increasing bus load.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The above is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
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