CN113328919B - CAN bus identifier, communication method and communication system - Google Patents

CAN bus identifier, communication method and communication system Download PDF

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Publication number
CN113328919B
CN113328919B CN202110589462.1A CN202110589462A CN113328919B CN 113328919 B CN113328919 B CN 113328919B CN 202110589462 A CN202110589462 A CN 202110589462A CN 113328919 B CN113328919 B CN 113328919B
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message
counting
index
bit
area
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CN113328919A (en
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王斌
崔景兵
胡传正
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Jiangsu Xugong Construction Machinery Research Institute Co ltd
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Jiangsu Xugong Construction Machinery Research Institute Co ltd
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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
    • 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]
    • 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
    • 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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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Computer Security & Cryptography (AREA)
  • Computer Hardware Design (AREA)
  • Computing Systems (AREA)
  • General Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Small-Scale Networks (AREA)

Abstract

The application discloses a CAN bus identifier, a communication method and a communication system, belonging to the technical field of CAN bus communication; it comprises the following steps: the identifier part of the CAN bus message is divided into a message index area, a counting area and a synchronous zone bit according to functions; message index area: the message index number is used for storing the current message; counting area: the message counting device is used for storing the message counting result which is the same as the message index number and respectively counting aiming at different index numbers; synchronization flag bit: the method is used for representing the encryption condition of the current message data; the sender carries out cycle counting on specific message indexes in the counting area, and after receiving the message, the receiver compares with an expected counting value to judge whether the abnormality such as packet loss occurs or not, thereby achieving the purpose of keeping data synchronization without increasing bus load. The counting area is introduced into the CAN and CAN-FD message identifiers, and the receiving and transmitting sides synchronize data according to the counting, so that the problem of data asynchronism in the communication process under the condition of adopting stream ciphers is solved.

Description

CAN bus identifier, communication method and communication system
Technical Field
The application relates to a CAN bus identifier, a communication method and a communication system, and belongs to the technical field of CAN bus communication.
Background
The bus communication at home and abroad is increasingly widely applied at present, and is particularly important in the fields of automobiles and engineering machinery industry, and CAN-FD bus communication are particularly important in data transmission occasions with high real-time requirements. The CAN and CAN-FD buses adopt a nondestructive bus arbitration technology, a carrier monitoring and CSMA/CA communication mode, and the bus arbitration mode allows any node on the buses to have the opportunity to acquire the control right of the buses and send data outwards. If 2 or more nodes require to transmit data at the same time, bus conflicts are generated, and the CAN bus CAN detect and arbitrate the conflicts in real time, so that the data with high priority CAN be transmitted without any damage.
At present, most of applications of CAN and CAN-FD buses are plaintext communication, the data security is low, the product is easy to imitate, and a symmetrical cryptographic algorithm is adopted to be a better solution. When the stream cipher algorithm in the symmetric cipher algorithm is adopted, because the keys adopted by each CAN and CAN-FD message are different and the keys are not transmitted through a bus, whether the messages of the two communication parties are correctly synchronous or not needs to be judged, otherwise, data decryption errors occur, and normal communication is affected.
In order to solve the problems, the application provides a CAN bus identifier, a communication method and a communication system.
Disclosure of Invention
The application 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 is low in plaintext communication safety and easy to cause decoding errors due to asynchronous communication when a stream cipher algorithm is adopted, and normal communication is finally affected.
In order to achieve the above purpose, the application is realized by adopting the following technical scheme:
in a first aspect, the present application provides a CAN bus identifier, the identifier comprising:
message index area: the message index is used for storing the current message;
counting area: the message index counting method is used for storing the message index counting result which is the same as the message index in type;
synchronization flag 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 message index region, a 3-bit count region, and a 1-bit sync flag bit.
Further, the extended frame identifier includes a 20-bit message index region, an 8-bit count region, and a 1-bit sync flag bit.
Further, when the synchronization flag bit is 0, the current message data is not encrypted; and when the synchronous flag bit is 1, the current message data encryption is indicated.
In a second aspect, the present application provides a method for sending a message, including:
collecting a message to be sent;
generating the CAN bus identifier of any one of the first aspects;
judging whether the 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 encryption is needed, executing a message encryption flow to obtain a ciphertext; and according to the message index updating counting result stored in the message index updating counting area in the secret, adding the updated CAN bus identifier into the secret and sending the updated CAN bus identifier.
Further, after the message to be sent is collected, the message to be sent is arranged into a required format according to the requirements of a preset communication protocol.
Further, the counting area counts the message index counting result in a cyclic counting mode, and when the message index counting result reaches the upper limit value of the counting area, the counting area starts counting again from 0.
In a third aspect, the present application provides a method for receiving a message, 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, acquiring a message index counting result of the currently 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 flow 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 according to the first aspect.
In a fourth aspect, the present application 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 according to any one of the second aspects;
when the ECU node is used as a message receiving party, the message receiving method of the third aspect can be adopted to receive the message.
Compared with the prior art, the application has the beneficial effects that:
the application provides a CAN bus identifier, a communication method and a communication system, which are suitable for CAN and CAN-FD bus communication. The counting area is introduced into the CAN and CAN-FD message identifiers, and the receiving and transmitting sides synchronize data according to the counting, so that the problem of data asynchronism in the communication process under the condition of adopting stream ciphers is solved.
Drawings
FIG. 1 is a schematic diagram of a bus identifier structure according to a first embodiment of the present application;
fig. 2 is a schematic diagram of a standard frame identifier allocation method according to a first embodiment of the present application;
fig. 3 is a schematic diagram of an extended frame identifier allocation method according to a first embodiment of the present application;
FIG. 4 is a flowchart of a message sending method according to a second embodiment of the present application;
fig. 5 is a flowchart of a message receiving method according to a third embodiment of the present application;
fig. 6 is a schematic connection diagram of a CAN bus communication system according to a fourth embodiment of the present application.
Detailed Description
The application is further described below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present application, and are not intended to limit the scope of the present application.
Abbreviations and key term definitions in the following examples
CAN- - -Controller Area Network controller local area network
CAN-FD- - -CAN with Flexible Data rate CAN with variable baud rate of data segment CAN be simply considered as an upgrade of traditional CAN.
MCU- - -Microcontroller Unit micro control unit, also called singlechip
The ECU-Electronic Control Unit electronic control unit consists of a Microprocessor (MCU), a memory (ROM, RAM), an input/output interface (I/O), an analog-to-digital converter (A/D), and large-scale integrated circuits such as shaping, driving and the like.
Stream cipher: stream ciphers (Stream ciphers), also known as sequence ciphers, are one type of symmetric cryptographic algorithm. The sequence cipher has the characteristics of simple implementation, convenient hardware implementation, high encryption and decryption processing speed, no or limited error propagation and the like, so that the sequence cipher has advantages in practical application, particularly in special or confidential institutions, and typical application fields comprise wireless communication and bus communication.
Embodiment one:
the present embodiment provides a CAN bus identifier, the identifier including:
message index area: the message index is used for storing the current message;
counting area: the message index counting method is used for storing the message index counting result which is the same as the message index in type;
synchronization flag 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 the embodiment, the method of the present application is applicable to a CAN bus (an 11-bit standard frame and a 29-bit extended frame identifier), a CAN-FD, and the CAN data frame is composed of a frame start, an arbitration section, a control section, a data section, a CRC section, an ACK section, and a frame end, and the identifier belongs to the arbitration section;
as shown in FIG. 2, the standard frame identifier allocation method of the present application is shown as a schematic diagram, and is 11 bits (bit) in total, bit 10-bit 0, 7 bits in total, bit 10-bit 4 are packet index areas, and the value range is 0-127, so that the network supports a maximum of 128 packets; bit 3-bit 1 are taken as a counting area, the value range is 0-7, so that each cycle is 8 messages, and then the operation is restarted from 0; bit0 is a synchronous flag bit, wherein the synchronous flag bit0 represents that the current message data is not encrypted, and the synchronous flag bit1 represents that the current message data is encrypted;
FIG. 3 shows a schematic diagram of an expanded frame identifier allocation method of the present application, wherein the expanded frame identifier allocation method is 29 bits (bit), which is bit 28-bit 0, and 20 bits (bit 28-bit 9) which are packet index areas, and the range of values is 0-220-1, so that the network supports 220 (1048576) maximum packets; 8 bits of bit 8-bit 1 are taken as a counting area, the value range is 0-255, so that each cycle is 256 messages, and then the process starts from 0 again; bit0 is a synchronization flag bit, the synchronization flag bit of 0 represents that the current message data is not encrypted, and the synchronization flag bit of 1 represents that the current message data is encrypted. And under the condition that the current message data is not encrypted, the synchronous flag bit is 0.
Embodiment two:
the embodiment provides a message sending method, as shown in fig. 4, including:
the message to be sent is collected and sent,
according to the requirements of a preset communication protocol, the message to be sent is arranged into a required format;
generating a CAN bus identifier as in embodiment one;
judging whether the 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 may be applicable to more complex networks. The method can realize the data sequence synchronization of the transmitting and receiving parties under the condition of not increasing the number of messages, and does not increase the bus load;
if encryption is needed, executing a message encryption flow to obtain a ciphertext; and updating the message index counting result stored in the counting area according to the message index in the secret (the counting area counts the message index counting result in a circulating counting mode), and when the message index counting result reaches the upper limit value of the counting area, the counting area starts counting again from 0), adding the updated CAN bus identifier into the secret and sending the CAN bus identifier.
Embodiment III:
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, acquiring a message index counting result of the currently 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 flow 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 is characterized by high encryption security, and the keys of the message data are different for each frame, so that the message receiver can correctly decrypt the ciphertext data to obtain plaintext data by generating the same key as the message sender. The method requires the sender and the receiver to adopt the same key generation mode, and simultaneously the receiver and the sender can achieve synchronization of the data sequences, and once the data sequences are out of synchronization, for example, the conditions of inconsistent data packet numbers, data packet loss, receiving failure and the like caused by different starting time of the sender or the receiver occur, the system cannot work normally, so that a count is maintained for each functional data packet (messages with the same index), and the count of the sender and the receiver is the same to indicate the data synchronization.
Embodiment four:
the present embodiment provides a CAN bus communication system, 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 adopted to send the message;
when the ECU node is used as a message receiving party, the message receiving method of the third embodiment can be used to receive the message.
In the CAN bus circuit, two terminal resistors for eliminating signal reflection are connected between the CAN_H and the CAN_L, the communication system comprises a plurality of ECU units connected in parallel between the CAH_H and the CAN_L, each ECU unit CAN be used for a plurality of message sending senders or a plurality of message receiving receivers, and the identifiers of the messages are distributed by adopting any identifier distribution method.
Each ECU unit may have a plurality of sending messages and a plurality of receiving messages, and the message indexes of the sending messages and the receiving messages are different, and the messages may be periodically sent or may be event type messages, and count for different message indexes respectively. The sending messages are in a broadcast form, 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 needed to be executed, if the synchronous flag bit is 1, the value of a counting area is extracted to carry out data synchronization judgment, then a corresponding secret key is generated, and data decryption is executed to obtain plaintext data for functional processing.
In summary, the application provides a method for distributing CAN bus identifiers by stream ciphers, a communication system and a communication method, which are suitable for CAN and CAN-FD bus communication.
It will be appreciated by those skilled in the art that 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 foregoing is merely a preferred embodiment of the present application, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present application, and such modifications and variations should also be regarded as being within the scope of the application.

Claims (13)

1. A method for sending a message, comprising:
collecting a message to be sent;
generating a CAN bus identifier;
judging whether the 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 encryption is needed, executing a message encryption flow to obtain a ciphertext; according to the message index in the secret, updating the message index counting result stored in the counting area, adding the updated CAN bus identifier into the secret and sending out;
wherein the CAN bus identifier comprises: message index area: the message index is used for storing the current message; counting area: the message index counting method is used for storing the message index counting result which is the same as the message index in type; synchronization flag bit: used for representing the encryption condition of the current message data.
2. The method for sending a message according to claim 1, further comprising, after collecting the message to be sent, arranging the message to be sent into a required format according to a predetermined communication protocol requirement.
3. The method for sending a message according to claim 1, wherein the counting area counts the message index counting result in a cyclic counting manner, and when the message index counting result reaches the upper limit value of the counting area, the counting area starts to count again from 0.
4. The messaging method of claim 1, wherein the identifiers comprise a standard frame identifier and an extended frame identifier.
5. The method of claim 4, wherein the standard frame identifier comprises a 7-bit message index region, a 3-bit count region, and a 1-bit sync flag.
6. The method of claim 4, wherein the extended frame identifier comprises a 20-bit message index region, an 8-bit count region, and a 1-bit sync flag.
7. The method for sending a message according to claim 1, wherein when the synchronization flag bit is 0, the current message data is not encrypted; and when the synchronous flag bit is 1, the current message data encryption is indicated.
8. A method for receiving a message, comprising:
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, acquiring a message index counting result of the currently 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 flow 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 comprises: message index area: the message index is used for storing the current message; counting area: the message index counting method is used for storing the message index counting result which is the same as the message index in type; synchronization flag bit: used for representing the encryption condition of the current message data.
9. The message receiving method of claim 8, wherein the identifiers include a standard frame identifier and an extended frame identifier.
10. The message receiving method according to claim 9, wherein the standard frame identifier comprises a 7-bit message index region, a 3-bit count region, and a 1-bit sync flag.
11. The message receiving method according to claim 9, wherein the extended frame identifier includes a 20-bit message index region, an 8-bit count region, and a 1-bit sync flag.
12. The method for receiving a message according to claim 8, wherein when the synchronization flag bit is 0, the current message data is not encrypted; and when the synchronous flag bit is 1, the current message data encryption is indicated.
13. 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 claims 1 to 7;
when the ECU node is used as a message receiving party, the message receiving method of any one of claims 8 to 12 can be used to receive a message.
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