CN113612574A - Data transmission method and device - Google Patents
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L1/00—Arrangements for detecting or preventing errors in the information received
- H04L1/0001—Systems modifying transmission characteristics according to link quality, e.g. power backoff
- H04L1/0006—Systems modifying transmission characteristics according to link quality, e.g. power backoff by adapting the transmission format
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L1/00—Arrangements for detecting or preventing errors in the information received
- H04L1/004—Arrangements for detecting or preventing errors in the information received by using forward error control
- H04L1/0056—Systems characterized by the type of code used
- H04L1/0061—Error detection codes
Abstract
The invention provides a data transmission method and a device, wherein the method comprises the following steps: receiving data to be transmitted and a check code to be transmitted which are respectively sent by two local processors, wherein the data to be transmitted is sent after 2-out-of-2 check is carried out on the two local processors, and the two local processors are two processors connected with an Ethercat site of the local end; determining a group of local terminal transmission data and a local terminal check code based on the received two groups of data to be transmitted and check codes to be transmitted; and sending the local transmission data and the local check code to an opposite-end Ethercat site, and forwarding the local transmission data and the local check code to two opposite-end processors by the opposite-end Ethercat site so that the two opposite-end processors check the local transmission data respectively based on the local check code, wherein the two opposite-end processors are two processors connected with the opposite-end Ethercat site. The method and the device provided by the invention reduce the communication data volume, and further can effectively reduce the occupancy rate of the communication bus bandwidth.
Description
Technical Field
The present invention relates to the field of communications technologies, and in particular, to a data transmission method and apparatus.
Background
In recent years, with the development of rail transit technology, rail transit safety is receiving more and more attention, and the safety requirements of rail transit safety-related systems are higher and higher. An important part of the security requirements is the requirement for security integrity, which reflects the ability of security-related systems to perform security functions. Safety integrity includes random fault integrity, and although probabilistic calculations and assumptions are made for quantitative assessment of random fault integrity, there may still be a residual risk of a dangerous fault.
At present, the 2-out-of-2 technique is usually adopted to reduce the risk probability caused by random faults, that is, two operation units respectively perform the same operation, and then perform comparison of operation results, and the operation results are valid only if the operation results are consistent, otherwise the 2-out-of-2 technique fails. The 2-out-of-2 technique can effectively prevent risks caused by random faults, but has a great influence on a communication bus, and because double CPUs (Central Processing units) of each arithmetic Unit have equal amounts of input data and output data, the communication data amount on the communication bus is multiplied.
Disclosure of Invention
The invention provides a data transmission method and a data transmission device, which are used for overcoming the defect that the communication data volume is multiplied in the prior art and realizing the reduction of the communication data volume.
The invention provides a data transmission method, which is applied to an Ethercat site of a sending end and comprises the following steps:
receiving data to be transmitted and a check code to be transmitted, which are respectively sent by two local processors, wherein the data to be transmitted are sent after 2-out-of-2 check is carried out on the two local processors, and the two local processors are two processors connected with an Ethercat site at the local end;
determining a group of local terminal transmission data and a local terminal check code based on the received two groups of data to be transmitted and check codes to be transmitted;
and sending the local transmission data and the local check code to an opposite-end Ethercat site, and forwarding the local transmission data and the local check code to two opposite-end processors by the opposite-end Ethercat site, so that the two opposite-end processors check the local transmission data respectively based on the local check code, and the two opposite-end processors are two processors connected with the opposite-end Ethercat site.
According to the data transmission method provided by the invention, in the two local processors, the data to be transmitted sent by the first local processor is one part of the original data, the data to be transmitted sent by the second local processor is the other part of the original data, and the 2-out-of-2 verification performed by the two local processors is performed on the original data;
the check code to be transmitted sent by the first home terminal processor is one part of the original check code, the check code to be transmitted sent by the second home terminal processor is the other part of the original check code, and the original check code is determined based on the original data.
According to a data transmission method provided by the invention, the step of determining a group of local transmission data and local check codes based on two groups of received data to be transmitted and check codes to be transmitted comprises the following steps:
combining the two groups of received data to be transmitted to obtain the local terminal transmission data;
and combining the two received groups of codes to be transmitted to obtain the home terminal check code.
According to the data transmission method provided by the invention, the data to be transmitted and the check code to be transmitted sent by the first home terminal processor are odd-numbered bit data in an original data combination, and the data to be transmitted and the check code to be transmitted sent by the second home terminal processor are even-numbered bit data in the original data combination;
the original data combination is a combination of the original data and the original check code.
The invention also provides a data transmission method, which is applied to the Ethercat site of the receiving end and comprises the following steps:
receiving a group of opposite-end transmission data and opposite-end check codes sent by an opposite-end Ethercat site; the opposite-end transmission data and the opposite-end check codes are determined by the opposite-end Ethercat site based on two groups of received data to be transmitted and check codes to be transmitted, the data to be transmitted and the check codes to be transmitted are respectively sent to the opposite-end Ethercat site after 2-out-of-2 check is carried out on two opposite-end processors, and the two opposite-end processors are two processors connected with the opposite-end Ethercat site;
and forwarding the opposite-end transmission data and the opposite-end check code to two home-end processors so that the two home-end processors check the opposite-end transmission data respectively based on the opposite-end check code, wherein the two home-end processors are two processors connected with a home-end Ethercat site.
According to the data transmission method provided by the invention, in the two opposite-end processors, the data to be transmitted sent by the first opposite-end processor is one part of the original data, the data to be transmitted sent by the second opposite-end processor is the other part of the original data, and the 2-out-of-2 verification performed by the two opposite-end processors is performed on the original data;
the check code to be transmitted sent by the first pair of end processors is one part of the original check code, the check code to be transmitted sent by the second pair of end processors is the other part of the original check code, and the original check code is determined based on the original data.
According to the data transmission method provided by the invention, the opposite-end transmission data and the opposite-end check code are determined by the opposite-end Ethercat station through the following steps:
combining the two groups of received data to be transmitted to obtain the transmission data of the opposite terminal;
and combining the two received groups of check codes to be transmitted to obtain the opposite-end check code.
According to the data transmission method provided by the invention, the data to be transmitted and the check code to be transmitted sent by the first pair of end processors are odd-numbered data in an original data combination, and the data to be transmitted and the check code to be transmitted sent by the second pair of end processors are even-numbered data in the original data combination;
the original data combination is a combination of the original data and the original check code.
The invention also provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the steps of the data transmission method.
The invention also provides a non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of the data transmission method as described in any of the above.
According to the data transmission method and device, 2-out-of-2 verification is completed inside the sending end, the safety of the system is guaranteed, data communication is performed between the sending end and the receiving end based on the Ethercat technology, the real-time performance of the system is improved, and only one group of effective data needs to be transmitted when the sending end and the receiving end perform data communication, so that the communication data volume is reduced, the occupancy rate of the bandwidth of a communication bus can be effectively reduced, and the number of stations supported by the communication bus is increased.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic flow chart of a data transmission method based on a 2-out-of-2 technique provided in the prior art;
FIG. 2 is a flow chart of a data transmission method according to the present invention;
FIG. 3 is a second flowchart of a data transmission method according to the present invention;
FIG. 4 is an exemplary diagram of a data transmission method provided by the present invention;
FIG. 5 is a schematic diagram of a communication architecture of an onboard control platform provided by the present invention;
FIG. 6 is a schematic structural diagram of a data transmission apparatus provided in the present invention;
FIG. 7 is a second schematic structural diagram of a data transmission device according to the present invention;
fig. 8 is a schematic structural diagram of an electronic device provided in the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Ethercat (EtherNet Control Automation Technology ) is a real-time industrial field bus communication protocol based on an Ethernet development framework, and has the characteristics of high performance, flexible topological structure, easy application, low cost, high-precision equipment synchronization, optional cable redundancy, functional safety protocol, hot plug and the like. The advent of Ethercat sets new standards for the real-time performance and topology flexibility of systems. The Ethercat field bus adopts a master-slave communication mechanism, only one master station can be arranged in one communication network, but a plurality of slave stations can be arranged in the communication network, and the master station can read and write interactive data between the slave stations according to a set period.
The Ethercat fieldbus is known to be small in communication period and high in real-time performance, but the small single-period communication traffic of the Ethercat fieldbus becomes a fatal defect in some application scenarios. In the Ethercat communication chip existing in the market at present, the total amount of application layer communication available for the Ethercat slave station in a single period is only about 1 Kbyte, and the total amount of application layer communication available for the Ethercat master station in the single period is lower than 30 Kbytes. When there is an application scenario in which the communication data amount exceeds these values, only the high-performance communication chip can be selected to develop the relevant protocol by itself.
In order to meet the safety requirements of safety-related systems, a 2-out-of-2 technique is generally adopted to reduce the risk probability caused by random failures. Fig. 1 is a schematic flowchart of a data transmission method based on the 2-out-of-2 technique provided in the prior art, and as shown in fig. 1, a CPU1 at a transmitting end transmits data to a CPU1 at a receiving end, and a CPU2 at the transmitting end transmits data to a CPU2 at the receiving end; when a certain CPU of the sending end fails, the double CPUs of the receiving end make effective detection and perform corresponding protection processing by judging the consistency performance of the received data.
The probability of random fault occurrence is extremely low, the double CPUs simultaneously have random faults, and the probability of the same position of the random faults is negligibly small, so the 2-out-of-2 technology can effectively prevent risks caused by the random faults of the single CPU, but the technology has great influence on a communication bus, and as the double CPUs of each operation unit have equal input data and output data, the communication data amount on the communication bus is multiplied, which is a great challenge for an ethercat field bus.
Therefore, the embodiment of the invention provides a data transmission method, which can reduce the communication data volume, further ensure the safety of the system by using the 2-out-of-2 technology, and exert the characteristic of high real-time performance by using an Ethercat field bus. Fig. 2 is a schematic flow diagram of a data transmission method provided by the present invention, and as shown in fig. 2, an execution main body of the method is an Ethercat site at a transmitting end, and the method includes:
and step 130, sending the local transmission data and the local check code to an opposite-end Ethercat site, and forwarding the local transmission data and the local check code to two opposite-end processors by the opposite-end Ethercat site, so that the two opposite-end processors check the local transmission data respectively based on the local check code, and the two opposite-end processors are two processors connected with the opposite-end Ethercat site.
Specifically, the main execution body is the Ethercat site of the sending end, the local end represents the sending end, the opposite end represents the receiving end, and data communication is performed between the sending end and the receiving end based on the Ethercat communication bus, so that the real-time performance of the system is improved. In the prior art, after the double CPUs of the sending end respectively send the equivalent data to the receiving end, the receiving end performs 2-out-of-2 verification on the received data, which results in the multiplied increase of the communication data amount on the communication bus. To solve this problem, in the embodiment of the present invention, 2-out-of-2 verification is performed inside the sending end in advance, that is, two home end processors inside the sending end respectively calculate original data to be transmitted to the receiving end, compare the two sets of original data obtained, if the comparison result indicates that the two sets of original data are identical, it is determined that 2-out-of-2 verification passes, and otherwise, it is determined that 2-out-of-2 verification does not pass. Here, the type of the raw data is not particularly limited in the embodiment of the present invention, and may be, for example, communication data between a train end and a ground end, I/O (Input/Output) type data, and the like.
After confirming that 2-out-of-2 verification passes, two local processors can respectively send data to be transmitted to a local Ethercat site based on original data, on the basis, the local Ethercat site can determine a set of local transmission data based on two sets of received data to be transmitted, and send the set of local transmission data to the Ethercat site of a receiving end, so that the system safety is guaranteed by adopting 2-out-of-2 verification, and meanwhile, only one set of local transmission data needs to be sent to the receiving end, and the reduction of communication data volume is realized. Here, the data transmitted from the local terminal finally determines the data to be transmitted to the receiving terminal.
It can be understood that there may be multiple ways for the two home-end processors to send the data to be transmitted, and correspondingly, the determining ways for the home-end to transmit the data may also be different, for example, both the home-end processors send complete original data to the home-end Ethercat site, at this time, two sets of data to be transmitted are the same, and the home-end Ethercat site only needs to select one of the two sets of received data to be transmitted to obtain the home-end transmission data; for another example, the first local-end processor sends complete original data to the local-end Ethercat site, the second local-end processor sends only a part of the original data to the local-end Ethercat site, and the local-end Ethercat site can directly use the to-be-transmitted data sent by the first local-end processor as local-end transmission data; for another example, the first local-end processor sends only one part of the original data to the local-end Ethercat site, the second local-end processor sends the other part of the original data to the local-end Ethercat site, and the local-end Ethercat site can combine the received two sets of data to be transmitted into final local-end transmission data.
In addition, considering that if a certain local-end processor fails, data may be sent all the time, for example, data sent last time is copied, data sent out randomly, and the like, so that after the 2-out-of-2 check passes, the data to be sent by the local-end processor to the local-end Ethercat site may be abnormal data. In addition, certain security risks also exist in the data transmission process of sending data to the home-end Ethercat site by the home-end processor, sending data to the opposite-end Ethercat site by the home-end Ethercat site, sending data to the opposite-end Ethercat site by the opposite-end Ethercat site, sending data to the opposite-end processor by the opposite-end Ethercat site, and the like.
In this regard, in the embodiment of the present invention, two local processors are configured to send the local Ethercat site to-be-transmitted data and send the to-be-transmitted check code corresponding to the to-be-transmitted data, on this basis, the local Ethercat site may determine a set of local check codes according to the two sets of received to-be-transmitted check codes, and send the set of local check codes to the opposite end in step 130, so that the opposite end can check the local transmitted data according to the local check codes. It can be understood that, because the number of bytes occupied by the to-be-transmitted check code is small, the influence of sending the to-be-transmitted check code on the communication data volume can be ignored.
After the local terminal transmission data and the local terminal check code sent by the local terminal Ethercat site are received by the opposite terminal Ethercat site, the local terminal transmission data and the local terminal check code can be forwarded to the two opposite terminal processors connected with the opposite terminal Ethercat site by the opposite terminal Ethercat site, and on the basis, the two opposite terminal processors can respectively check the local terminal transmission data based on the local terminal check code. It can be understood that, if a certain local-end processor fails, the opposite-end processor fails to check the local-end transmission data, so that the risk possibly caused by the failure of the sending-end processor is effectively protected, and the safety of the system is further ensured.
According to the method provided by the embodiment of the invention, 2-out-of-2 verification is completed inside the sending end, the safety of the system is ensured, data communication is performed between the sending end and the receiving end based on the Ethercat technology, the real-time performance of the system is improved, and only one group of effective data needs to be transmitted when the sending end and the receiving end perform data communication, so that the communication data volume is reduced, the occupancy rate of the communication bus bandwidth can be effectively reduced, and the number of stations supported by the communication bus is increased.
Based on any embodiment, in the two home-end processors, the data to be transmitted sent by the first home-end processor is one part of the original data, the data to be transmitted sent by the second home-end processor is the other part of the original data, and the 2-out-of-2 verification performed by the two home-end processors is performed on the original data;
the check code to be transmitted sent by the first home terminal processor is one part of the original check code, the check code to be transmitted sent by the second home terminal processor is the other part of the original check code, and the original check code is determined based on the original data.
Specifically, the original data, that is, the data to be transmitted to the receiving end, which is obtained by the two home-end processors through respective calculation, the two home-end processors perform 2-out-of-2 verification, that is, two sets of original data obtained by the two home-end processors are verified, and the data to be transmitted is transmitted only after the two sets of original data are determined to be consistent. In addition, in order to ensure the correctness of the data, after the two home-end processors obtain the original data, the two home-end processors also generate corresponding data check codes for the original data, so as to obtain the original check codes.
In view of the fact that two sets of data to be transmitted are complete original data, or one set of data to be transmitted is complete original data, and the other set of data to be transmitted is partial original data, the communication data amount still increases, therefore, in the embodiment of the present invention, two local processors are set, the data to be transmitted, which is sent to the local Ethercat site by the first local processor, is one part of the original data, and the data to be transmitted, which is sent to the local Ethercat site by the second local processor, is the other part of the original data, so that the total amount of data, which is sent to the local Ethercat site by the two local processors, is only the data amount of the original data, and the increase of the communication data amount is avoided.
Correspondingly, when the data to be transmitted sent by the first local-end processor is one part of the original data and the data to be transmitted sent by the second local-end processor is the other part of the original data, the check code to be transmitted sent to the local-end Ethercat site by the first local-end processor is one part of the original check code, and the check code to be transmitted sent to the local-end Ethercat site by the second local-end processor is the other part of the original check code.
Here, the two sets of data to be transmitted and the check code to be transmitted may be obtained by combining and dividing the original data and the original check code, or may be obtained by separately dividing the original data and the original check code, and the dividing manner may be set arbitrarily according to a requirement. For example, the original data and the original check code are combined to obtain combined data, odd-numbered data in the combined data are taken out to be used as a group of data to be transmitted and a check code to be transmitted and are sent by a first home-end processor, and the rest data, namely even-numbered data in the combined data, are used as another group of data to be transmitted and a check code to be transmitted and are sent by a second home-end processor; or, the raw data is processed by 1: 2, dividing the data to be transmitted sent by the first home-end processor into front 1/3 original data, and sending the data to be transmitted by the second home-end processor into rear 2/3 original data, where the check code to be transmitted sent by the first home-end processor may be a front 1/3 original check code, and the check code to be transmitted sent by the second home-end processor is a rear 2/3 original check code.
Based on any of the above embodiments, step 120 includes:
combining the two groups of received data to be transmitted to obtain local terminal transmission data;
and combining the two received groups of codes to be transmitted to obtain the home terminal check code.
Specifically, in order to ensure the integrity of data transmitted to the receiving end, in the embodiment of the present invention, when two sets of received data to be transmitted are both partial original data, the two sets of received data to be transmitted are combined, so as to obtain complete local-end transmission data. Similarly, the received two groups of check codes to be transmitted are partial original check codes, and therefore the two groups of received check codes to be transmitted need to be combined, so that a complete home terminal check code is obtained, and the home terminal transmission data can be checked subsequently based on the home terminal check code.
Based on any embodiment, the data to be transmitted and the check code to be transmitted sent by the first local-end processor are odd-numbered data in the original data combination, and the data to be transmitted and the check code to be transmitted sent by the second local-end processor are even-numbered data in the original data combination;
the original data combination is a combination of the original data and the original check code.
Specifically, in order to effectively prevent the risk possibly caused by the failure of the processor at the transmitting end, in the embodiment of the invention, the original data added with the original check code is used as an original data combination, odd-numbered bit data in the original data combination is taken out to be used as a group of data to be transmitted and a check code to be transmitted, and is sent to the Ethercat site at the home end by the first home end processor, even-numbered bit data in the original data combination is used as another group of data to be transmitted and a check code to be transmitted, and the Ethercat site at the home end is sent by the second home end processor, so that data and check codes received by a subsequent receiving end come from two processors at the transmitting end, and the receiving end can check the data based on the check code, thereby ensuring the correctness of the data and effectively protecting the risk possibly caused by the failure of a certain processor at the transmitting end.
Based on any of the above embodiments, fig. 3 is a second schematic flow chart of the data transmission method provided by the present invention, as shown in fig. 3, the method is applied to an Ethercat station at a receiving end, and the method includes:
and step 220, forwarding the opposite-end transmission data and the opposite-end check code to the two home-end processors so that the two home-end processors check the opposite-end transmission data respectively based on the opposite-end check code, wherein the two home-end processors are two processors connected with the home-end Ethercat site.
Specifically, the main execution body is an Ethercat site of the receiving end, the local end represents the receiving end, the opposite end represents the transmitting end, and data communication is performed between the transmitting end and the receiving end based on an Ethercat communication bus, so that the real-time performance of the system is improved. In the prior art, after the double CPUs of the sending end respectively send the equivalent data to the receiving end, the receiving end performs 2-out-of-2 verification on the received data, which results in the multiplied increase of the communication data amount on the communication bus. To solve this problem, in the embodiment of the present invention, 2-out-of-2 verification is performed inside the sending end in advance, that is, two opposite end processors inside the sending end respectively calculate the original data to be transmitted to the receiving end, compare the two sets of original data obtained, if the comparison result indicates that the two sets of original data are consistent, it is determined that 2-out-of-2 verification passes, and otherwise, it is determined that 2-out-of-2 verification does not pass. Here, the type of the raw data is not particularly limited in the embodiment of the present invention, and may be, for example, communication data between a train end and a ground end, I/O type data, and the like.
After it is determined that the 2-out-of-2 check passes, the two opposite-end processors can respectively send data to be transmitted to the opposite-end Ethercat sites based on the original data, on the basis, the opposite-end Ethercat sites can determine a set of opposite-end transmission data based on the two sets of received data to be transmitted, and send the set of opposite-end transmission data to the Ethercat sites of the receiving ends, so that the system safety is guaranteed by adopting the 2-out-of-2 check, and meanwhile, the amount of communication data is reduced by only sending a set of opposite-end transmission data to the receiving ends. Here, the data transmitted from the opposite end finally determines the data to be transmitted to the receiving end.
It can be understood that there may be multiple ways for the two opposite-end processors to send the data to be transmitted, and correspondingly, the determination ways for the opposite-end processors to transmit the data may also be different, for example, both the two opposite-end processors send complete original data to the opposite-end Ethercat site, at this time, the two sets of data to be transmitted are the same, and the opposite-end Ethercat site only needs to select one of the two sets of received data to be transmitted to obtain the opposite-end transmission data; for another example, the first peer processor sends complete original data to the peer Ethercat site, the second peer processor sends only a part of the original data to the peer Ethercat site, and the peer Ethercat site can directly use the to-be-transmitted data sent by the first peer processor as peer transmission data; for another example, the first peer processor sends only a part of the original data to the peer Ethercat site, the second peer processor sends the other part of the original data to the peer Ethercat site, and the peer Ethercat site can combine the received two sets of data to be transmitted into final peer transmission data.
In addition, considering that if a certain peer processor fails, data may be sent all the time, for example, data sent last time is copied, data sent out randomly, and the like, so that after the 2-out-of-2 check is passed, the data to be sent by the peer processor to the peer Ethercat site may be abnormal data. In addition, certain security risks also exist in the data transmission process of sending data to the opposite-end Ethercat site by the opposite-end processor, sending data to the local-end Ethercat site by the opposite-end Ethercat site, sending data to the local-end Ethercat site by the local-end Ethercat site, sending data to the local-end processor by the local-end Ethercat site, and the like. In this regard, in the embodiment of the present invention, two peer processors are configured to send data to be transmitted to the peer Ethercat site, and send a to-be-transmitted check code corresponding to the data to be transmitted, on this basis, the peer Ethercat site may determine a set of peer check codes according to the two sets of received to-be-transmitted check codes, and send the set of peer check codes to the home terminal, so that the home terminal can check peer transmission data according to the peer check codes. It can be understood that, because the number of bytes occupied by the to-be-transmitted check code is small, the influence of sending the to-be-transmitted check code on the communication data volume can be ignored.
After the local-end Ethercat site receives a set of opposite-end transmission data and opposite-end check codes sent by the opposite-end Ethercat site, the local-end Ethercat site can forward the opposite-end transmission data and the opposite-end check codes to the two local-end processors connected with the local-end Ethercat site, and on the basis, the two local-end processors can respectively check the opposite-end transmission data based on the opposite-end check codes. It can be understood that, if a certain peer processor fails, the local peer processor fails to check the peer transmission data, thereby effectively protecting the risk possibly caused by the failure of the sender processor and further ensuring the security of the system.
According to the method provided by the embodiment of the invention, 2-out-of-2 verification is completed inside the sending end, the safety of the system is ensured, data communication is performed between the sending end and the receiving end based on the Ethercat technology, the real-time performance of the system is improved, and only one group of effective data needs to be transmitted when the sending end and the receiving end perform data communication, so that the communication data volume is reduced, the occupancy rate of the communication bus bandwidth can be effectively reduced, and the number of stations supported by the communication bus is increased.
Based on any of the above embodiments, in the two peer processors, the data to be transmitted sent by the first peer processor is a part of the original data, the data to be transmitted sent by the second peer processor is another part of the original data, and the 2-out-of-2 verification performed by the two peer processors is performed on the original data;
the check code to be transmitted sent by the first pair of end processors is one part of the original check code, the check code to be transmitted sent by the second pair of end processors is the other part of the original check code, and the original check code is determined based on the original data.
Specifically, the original data, that is, the data to be transmitted to the receiving end, which is obtained by the respective calculations of the two opposite-end processors, is subjected to 2-out-of-2 verification by the two opposite-end processors, that is, two sets of original data obtained by the respective two opposite-end processors are verified, and the data to be transmitted is transmitted only after the two sets of original data are determined to be consistent. In addition, in order to ensure the correctness of the data, after the two opposite-end processors obtain the original data, corresponding data check codes are generated for the original data, so that the original check codes are obtained.
In view of the fact that two sets of data to be transmitted are complete original data, or one set of data to be transmitted is complete original data, and the other set of data to be transmitted is partial original data, the communication data amount still increases, therefore, in the embodiment of the present invention, two peer processors are provided, the data to be transmitted, which is sent to the peer Ethercat site by the first peer processor, is one part of the original data, and the data to be transmitted, which is sent to the peer Ethercat site by the second peer processor, is the other part of the original data, so that the total amount of data, which is sent to the peer Ethercat site by the two peer processors, is only the data amount of the original data, and the increase of the communication data amount is avoided.
Correspondingly, when the data to be transmitted sent by the first peer processor is one part of the original data and the data to be transmitted sent by the second peer processor is another part of the original data, the check code to be transmitted sent by the first peer processor to the peer Ethercat site is one part of the original check code, and the check code to be transmitted sent by the second peer processor to the peer Ethercat site is another part of the original check code.
Here, the two sets of data to be transmitted and the check code to be transmitted may be obtained by combining and dividing the original data and the original check code, or may be obtained by separately dividing the original data and the original check code, and the dividing manner may be set arbitrarily according to a requirement. For example, the original data and the original check code are combined to obtain combined data, odd-numbered data in the combined data are taken out to be used as a group of data to be transmitted and check codes to be transmitted and are sent by a first opposite-end processor, and the rest data, namely even-numbered data in the combined data, are used as another group of data to be transmitted and check codes to be transmitted and are sent by a second opposite-end processor; or, the raw data is processed by 1: 2, dividing the data to be transmitted sent by the first peer processor into front 1/3 original data, and sending by the second peer processor into rear 2/3 original data, where the check code to be transmitted sent by the first peer processor may be a front 1/3 original check code, and the check code to be transmitted sent by the second peer processor is a rear 2/3 original check code.
Based on any of the above embodiments, the peer-to-peer transmission data and the peer-to-peer check code are determined by the peer-to-peer Ethercat station through the following steps:
combining the two groups of received data to be transmitted to obtain opposite-end transmission data;
and combining the two received groups of check codes to be transmitted to obtain the opposite-end check code.
Specifically, in order to ensure the integrity of data transmitted to the receiving end, in the embodiment of the present invention, under the condition that two sets of to-be-transmitted data received by the peer-to-peer Ethercat station are both partial original data, the peer-to-peer Ethercat station combines the two sets of to-be-transmitted data, so as to obtain complete peer-to-peer transmission data. Similarly, the two groups of to-be-transmitted check codes received by the peer-to-peer Ethercat site are partial original check codes, and therefore, the two groups of received to-be-transmitted check codes need to be combined, so that a complete peer-to-peer check code is obtained, and a subsequent home-end processor can check peer-to-peer transmission data based on the peer-to-peer check code.
Based on any of the above embodiments, the data to be transmitted and the check code to be transmitted sent by the first peer processor are odd-numbered data in the original data combination, and the data to be transmitted and the check code to be transmitted sent by the second peer processor are even-numbered data in the original data combination;
the original data combination is a combination of the original data and the original check code.
Specifically, in order to effectively prevent the risk possibly caused by the failure of the processor at the transmitting end, in the embodiment of the present invention, the original data to which the original check code is added is used as an original data combination, odd-numbered bit data in the original data combination is taken out to be used as a group of data to be transmitted and a check code to be transmitted, and is sent to the ethernet site at the opposite end by the first processor at the opposite end, even-numbered bit data in the original data combination is used as another group of data to be transmitted and a check code to be transmitted, and the ethernet site at the opposite end is sent by the second processor at the opposite end, so that data and check codes received by the subsequent receiving end come from two processors at the transmitting end, and the receiving end can check the data based on the check codes, thereby ensuring the correctness of the data and effectively protecting the risk possibly caused by the failure of a certain processor at the transmitting end.
Based on any of the above embodiments, fig. 4 is an exemplary diagram of the data transmission method provided by the present invention, and as shown in fig. 4, a system to which the method is applied may be a communication system in which there is one active Ethercat master station and multiple Ethercat slave stations. The system includes a logic unit and a plurality of execution units. The logic unit comprises an Ethercat master station, a CPU1 and a CPU2 which perform logic operations and adopt a 2-out-of-2 technology. The execution unit contains the Ethercat slave station, and a CPU1 and a CPU2 which perform logical operations and adopt a 2-out-of-2 technique.
In this example, the sender is a logic unit, the Ethercat site of the sender is an Ethercat master station, the receiver is an execution unit, and the Ethercat site of the receiver is an Ethercat slave station. The specific flow of the logic unit transmitting data to the execution unit is as follows:
1. the CPU1 and the CPU2 of the logic unit respectively calculate the original data which needs to be sent to the execution unit according to the current system state, and add the original check code.
2. The CPU1 and the CPU2 of the logic unit adopt the 2-out-of-2 technology to compare the original data which needs to be sent to the execution unit, and only the data which are consistent with each other can be sent to the execution unit.
3. The CPU1 of the logic unit sends the 1/3/5/7 … th field of the data to which the original check code is added to the Ethercat master station in the logic unit, and the CPU2 of the logic unit sends the 2/4/6/8 … th field of the data to which the original check code is added to the Ethercat master station in the logic unit. It will be appreciated that each CPU now transmits half the valid data and half the check code.
4. The Ethercat master station of the logic unit restores the two groups of data to be transmitted and the check codes to be transmitted, which are received from the CPU1 and the CPU2, to local transmission data and local check codes which are sent to the execution unit, and then the local transmission data and the local check codes are sent to the execution unit through an Ethercat bus.
5. After receiving the data from the master station, the Ethercat slave station of the execution unit sends the data to the CPU1 and the CPU2 of the execution unit, respectively.
6. And the CPU1 and the CPU2 of the execution unit respectively check the received home terminal transmission data according to the home terminal check code.
When the execution unit sends data to the logic unit, the same communication mechanism is adopted, and details are not repeated.
Based on any embodiment, the vehicle-mounted control platform is a safety system based on an ethercat communication architecture, and comprises a logic unit and four execution units. The logic unit adopts an F75P module and an F306 module of a company in Germany, the CPU1 and the CPU2 in the F75P module perform logic operation, and the F306 module is used as an Ethercat master station and is responsible for finishing communication with the execution unit. The execution unit is a self-development module, chips adopted by a CPU1 and a CPU2 for calculation are TMS570 series, and a chip adopted by an ethercat slave station for communication is ET 1100.
Fig. 5 is a schematic diagram of a communication architecture of a vehicle-mounted control platform provided in the present invention, and as shown in fig. 5, an execution unit included in the platform is: the system comprises a speed measuring unit, a vehicle control unit, a communication unit and an I/O unit, wherein each execution unit completes different functions. In order to meet the requirement of a safety integrity level, a 2-out-of-2 technology is adopted by a logic unit and an execution unit in the platform. The communication between the logic unit and the execution unit adopts the data transmission method provided by the invention.
It should be noted that an object of the present invention is to provide a method for inter-subsystem communication in a security system via an Ethercat fieldbus, which can ensure the security of the system by using a 2-out-of-2 technique, and can also use the Ethercat fieldbus to achieve the high real-time performance, and overcome the problem of small single-cycle communication traffic.
The data transmission device provided by the present invention is described below, and the data transmission device described below and the data transmission method described above may be referred to correspondingly.
Based on any of the above embodiments, fig. 6 is a schematic structural diagram of a data transmission apparatus provided in the present invention, and as shown in fig. 6, the apparatus is applied to an Ethercat station at a transmitting end, and the apparatus includes:
the receiving module 610 is configured to receive data to be transmitted and a check code to be transmitted, which are sent by two home-end processors respectively, where the data to be transmitted is sent after 2-out-of-2 check is performed on the two home-end processors, and the two home-end processors are two processors connected to a home-end Ethercat site;
a determining module 620, configured to determine a set of local transmission data and a local check code based on the received two sets of data to be transmitted and check codes to be transmitted;
a sending module 630, configured to send the local transmission data and the local check code to the peer-to-peer Ethercat site, and forward the local transmission data and the local check code to the two peer-to-peer processors by the peer-to-peer Ethercat site, so that the two peer-to-peer processors check the local transmission data based on the local check code respectively, and the two peer-to-peer processors are two processors connected to the peer-to-peer Ethercat site.
The device provided by the embodiment of the invention completes 2-out-of-2 verification in the sending end, ensures the safety of the system, improves the real-time performance of the system by performing data communication between the sending end and the receiving end based on the Ethercat technology, and only needs to transmit one group of effective data when the sending end and the receiving end perform data communication, thereby reducing the communication data volume, further effectively reducing the occupancy rate of the communication bus bandwidth and increasing the number of stations supported by the communication bus.
Based on any embodiment, in the two home-end processors, the data to be transmitted sent by the first home-end processor is one part of the original data, the data to be transmitted sent by the second home-end processor is the other part of the original data, and the 2-out-of-2 verification performed by the two home-end processors is performed on the original data;
the check code to be transmitted sent by the first home terminal processor is one part of the original check code, the check code to be transmitted sent by the second home terminal processor is the other part of the original check code, and the original check code is determined based on the original data.
Based on any one of the above embodiments, determining a set of local transmission data and a local check code based on the received two sets of data to be transmitted and check codes to be transmitted includes:
combining the two groups of received data to be transmitted to obtain local terminal transmission data;
and combining the two received groups of codes to be transmitted to obtain the home terminal check code.
Based on any embodiment, the data to be transmitted and the check code to be transmitted sent by the first local-end processor are odd-numbered data in the original data combination, and the data to be transmitted and the check code to be transmitted sent by the second local-end processor are even-numbered data in the original data combination;
the original data combination is a combination of the original data and the original check code.
Based on any of the above embodiments, fig. 7 is a second schematic structural diagram of the data transmission device provided by the present invention, as shown in fig. 7, the device is applied to an Ethercat station at a receiving end, and the device includes:
a receiving module 710, configured to receive a set of peer transmission data and peer check codes sent by a peer Ethercat site; the data transmission and the check code of the opposite terminal are determined by the Ethercat site based on the received two groups of data to be transmitted and the check code to be transmitted, the data to be transmitted and the check code to be transmitted are respectively sent to the Ethercat site after 2-out-of-2 check is carried out on two opposite terminal processors, and the two opposite terminal processors are two processors connected with the Ethercat site;
a forwarding module 720, configured to forward the peer transmission data and the peer check code to the two home-end processors, so that the two home-end processors check the peer transmission data based on the peer check code, respectively, where the two home-end processors are two processors connected to the home-end Ethercat site.
The device provided by the embodiment of the invention completes 2-out-of-2 verification in the sending end, ensures the safety of the system, improves the real-time performance of the system by performing data communication between the sending end and the receiving end based on the Ethercat technology, and only needs to transmit one group of effective data when the sending end and the receiving end perform data communication, thereby reducing the communication data volume, further effectively reducing the occupancy rate of the communication bus bandwidth and increasing the number of stations supported by the communication bus.
Based on any of the above embodiments, in the two peer processors, the data to be transmitted sent by the first peer processor is a part of the original data, the data to be transmitted sent by the second peer processor is another part of the original data, and the 2-out-of-2 verification performed by the two peer processors is performed on the original data;
the check code to be transmitted sent by the first pair of end processors is one part of the original check code, the check code to be transmitted sent by the second pair of end processors is the other part of the original check code, and the original check code is determined based on the original data.
Based on any of the above embodiments, the peer-to-peer transmission data and the peer-to-peer check code are determined by the peer-to-peer Ethercat station through the following steps:
combining the two groups of received data to be transmitted to obtain opposite-end transmission data;
and combining the two received groups of check codes to be transmitted to obtain the opposite-end check code.
Based on any of the above embodiments, the data to be transmitted and the check code to be transmitted sent by the first peer processor are odd-numbered data in the original data combination, and the data to be transmitted and the check code to be transmitted sent by the second peer processor are even-numbered data in the original data combination;
the original data combination is a combination of the original data and the original check code.
Fig. 8 illustrates a physical structure diagram of an electronic device, and as shown in fig. 8, the electronic device may include: a processor (processor)810, a communication Interface 820, a memory 830 and a communication bus 840, wherein the processor 810, the communication Interface 820 and the memory 830 communicate with each other via the communication bus 840. The processor 810 may call logic instructions in the memory 830 to perform a data transmission method, which is applied to an Ethercat station on a sender, and the method includes: receiving data to be transmitted and a check code to be transmitted which are respectively sent by two local processors, wherein the data to be transmitted is sent after 2-out-of-2 check is carried out on the two local processors, and the two local processors are two processors connected with an Ethercat site of the local end; determining a group of local terminal transmission data and a local terminal check code based on the received two groups of data to be transmitted and check codes to be transmitted; the local terminal transmission data and the local terminal check code are sent to an opposite terminal Ethercat site, and the opposite terminal Ethercat site forwards the local terminal transmission data and the local terminal check code to two opposite terminal processors, so that the two opposite terminal processors check the local terminal transmission data respectively based on the local terminal check code, and the two opposite terminal processors are two processors connected with the opposite terminal Ethercat site;
or a data transmission method is executed, the method is applied to an Ethercat site at a receiving end, and the method comprises the following steps: receiving a group of opposite-end transmission data and opposite-end check codes sent by an opposite-end Ethercat site; the data transmission and the check code of the opposite terminal are determined by the Ethercat site based on the received two groups of data to be transmitted and the check code to be transmitted, the data to be transmitted and the check code to be transmitted are respectively sent to the Ethercat site after 2-out-of-2 check is carried out on two opposite terminal processors, and the two opposite terminal processors are two processors connected with the Ethercat site; and forwarding the opposite-end transmission data and the opposite-end check code to the two home-end processors so that the two home-end processors check the opposite-end transmission data respectively based on the opposite-end check code, wherein the two home-end processors are two processors connected with the home-end Ethercat site.
In addition, the logic instructions in the memory 830 may be implemented in software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product, where the computer program product includes a computer program stored on a non-transitory computer-readable storage medium, the computer program includes program instructions, and when the program instructions are executed by a computer, the computer can execute the data transmission method provided by the above methods, where the method is applied to an Ethercat station at a transmitting end, and the method includes: receiving data to be transmitted and a check code to be transmitted which are respectively sent by two local processors, wherein the data to be transmitted is sent after 2-out-of-2 check is carried out on the two local processors, and the two local processors are two processors connected with an Ethercat site of the local end; determining a group of local terminal transmission data and a local terminal check code based on the received two groups of data to be transmitted and check codes to be transmitted; the local terminal transmission data and the local terminal check code are sent to an opposite terminal Ethercat site, and the opposite terminal Ethercat site forwards the local terminal transmission data and the local terminal check code to two opposite terminal processors, so that the two opposite terminal processors check the local terminal transmission data respectively based on the local terminal check code, and the two opposite terminal processors are two processors connected with the opposite terminal Ethercat site;
or executing the data transmission method provided by the above methods, where the method is applied to an Ethercat site at a receiving end, and the method includes: receiving a group of opposite-end transmission data and opposite-end check codes sent by an opposite-end Ethercat site; the data transmission and the check code of the opposite terminal are determined by the Ethercat site based on the received two groups of data to be transmitted and the check code to be transmitted, the data to be transmitted and the check code to be transmitted are respectively sent to the Ethercat site after 2-out-of-2 check is carried out on two opposite terminal processors, and the two opposite terminal processors are two processors connected with the Ethercat site; and forwarding the opposite-end transmission data and the opposite-end check code to the two home-end processors so that the two home-end processors check the opposite-end transmission data respectively based on the opposite-end check code, wherein the two home-end processors are two processors connected with the home-end Ethercat site.
In still another aspect, the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program is implemented by a processor to perform the data transmission method provided by the foregoing methods, and the method is applied to an Ethercat station at a transmitting end, where the method includes: receiving data to be transmitted and a check code to be transmitted which are respectively sent by two local processors, wherein the data to be transmitted is sent after 2-out-of-2 check is carried out on the two local processors, and the two local processors are two processors connected with an Ethercat site of the local end; determining a group of local terminal transmission data and a local terminal check code based on the received two groups of data to be transmitted and check codes to be transmitted; the local terminal transmission data and the local terminal check code are sent to an opposite terminal Ethercat site, and the opposite terminal Ethercat site forwards the local terminal transmission data and the local terminal check code to two opposite terminal processors, so that the two opposite terminal processors check the local terminal transmission data respectively based on the local terminal check code, and the two opposite terminal processors are two processors connected with the opposite terminal Ethercat site;
or the data transmission method provided by executing the above methods is applied to an Ethercat site at a receiving end, and the method includes: receiving a group of opposite-end transmission data and opposite-end check codes sent by an opposite-end Ethercat site; the data transmission and the check code of the opposite terminal are determined by the Ethercat site based on the received two groups of data to be transmitted and the check code to be transmitted, the data to be transmitted and the check code to be transmitted are respectively sent to the Ethercat site after 2-out-of-2 check is carried out on two opposite terminal processors, and the two opposite terminal processors are two processors connected with the Ethercat site; and forwarding the opposite-end transmission data and the opposite-end check code to the two home-end processors so that the two home-end processors check the opposite-end transmission data respectively based on the opposite-end check code, wherein the two home-end processors are two processors connected with the home-end Ethercat site.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A data transmission method is applied to an Ethercat site at a sending end, and comprises the following steps:
receiving data to be transmitted and a check code to be transmitted, which are respectively sent by two local processors, wherein the data to be transmitted are sent after 2-out-of-2 check is carried out on the two local processors, and the two local processors are two processors connected with an Ethercat site at the local end;
determining a group of local terminal transmission data and a local terminal check code based on the received two groups of data to be transmitted and check codes to be transmitted;
and sending the local transmission data and the local check code to an opposite-end Ethercat site, and forwarding the local transmission data and the local check code to two opposite-end processors by the opposite-end Ethercat site, so that the two opposite-end processors check the local transmission data respectively based on the local check code, and the two opposite-end processors are two processors connected with the opposite-end Ethercat site.
2. The data transmission method according to claim 1, wherein, in the two local processors, the data to be transmitted sent by a first local processor is one part of original data, the data to be transmitted sent by a second local processor is another part of the original data, and the 2-out-of-2 verification performed by the two local processors is performed on the original data;
the check code to be transmitted sent by the first home terminal processor is one part of the original check code, the check code to be transmitted sent by the second home terminal processor is the other part of the original check code, and the original check code is determined based on the original data.
3. The data transmission method according to claim 2, wherein the determining a set of local transmission data and local check code based on the received two sets of data to be transmitted and check code to be transmitted includes:
combining the two groups of received data to be transmitted to obtain the local terminal transmission data;
and combining the two received groups of codes to be transmitted to obtain the home terminal check code.
4. The data transmission method according to claim 2, wherein the data to be transmitted and the check code to be transmitted sent by the first local-end processor are odd-numbered bit data in an original data combination, and the data to be transmitted and the check code to be transmitted sent by the second local-end processor are even-numbered bit data in the original data combination;
the original data combination is a combination of the original data and the original check code.
5. A data transmission method is applied to an Ethercat site at a receiving end, and comprises the following steps:
receiving a group of opposite-end transmission data and opposite-end check codes sent by an opposite-end Ethercat site; the opposite-end transmission data and the opposite-end check codes are determined by the opposite-end Ethercat site based on two groups of received data to be transmitted and check codes to be transmitted, the data to be transmitted and the check codes to be transmitted are respectively sent to the opposite-end Ethercat site after 2-out-of-2 check is carried out on two opposite-end processors, and the two opposite-end processors are two processors connected with the opposite-end Ethercat site;
and forwarding the opposite-end transmission data and the opposite-end check code to two home-end processors so that the two home-end processors check the opposite-end transmission data respectively based on the opposite-end check code, wherein the two home-end processors are two processors connected with a home-end Ethercat site.
6. The data transmission method according to claim 5, wherein, in the two peer processors, the data to be transmitted sent by a first peer processor is one part of original data, the data to be transmitted sent by a second peer processor is another part of the original data, and the 2-out-of-2 check performed by the two peer processors is performed on the original data;
the check code to be transmitted sent by the first pair of end processors is one part of the original check code, the check code to be transmitted sent by the second pair of end processors is the other part of the original check code, and the original check code is determined based on the original data.
7. The data transmission method according to claim 6, wherein the peer-to-peer transmission data and the peer-to-peer check code are determined by the peer-to-peer Ethercat station through the following steps:
combining the two groups of received data to be transmitted to obtain the transmission data of the opposite terminal;
and combining the two received groups of check codes to be transmitted to obtain the opposite-end check code.
8. The data transmission method according to claim 6, wherein the data to be transmitted and the check code to be transmitted sent by the first pair of end processors are odd-numbered data in an original data combination, and the data to be transmitted and the check code to be transmitted sent by the second pair of end processors are even-numbered data in the original data combination;
the original data combination is a combination of the original data and the original check code.
9. A data transmission device is applied to an Ethercat site at a sending end, and the device comprises:
the system comprises a receiving module, a verification module and a verification module, wherein the receiving module is used for receiving data to be transmitted and a verification code to be transmitted, which are respectively sent by two local processors, the data to be transmitted is sent after 2-out-of-2 verification is carried out on the two local processors, and the two local processors are two processors connected with a local Ethercat site;
the determining module is used for determining a group of local terminal transmission data and local terminal check codes based on the received two groups of data to be transmitted and check codes to be transmitted;
and the sending module is used for sending the local transmission data and the local check code to an opposite-end Ethercat site and forwarding the local transmission data and the local check code to two opposite-end processors by the opposite-end Ethercat site, so that the two opposite-end processors check the local transmission data respectively based on the local check code, and the two opposite-end processors are two processors connected with the opposite-end Ethercat site.
10. A data transmission device is applied to an Ethercat station at a receiving end, and comprises:
the receiving module is used for receiving a group of opposite-end transmission data and opposite-end check codes sent by an opposite-end Ethercat site; the opposite-end transmission data and the opposite-end check codes are determined by the opposite-end Ethercat site based on two groups of received data to be transmitted and check codes to be transmitted, the data to be transmitted and the check codes to be transmitted are respectively sent to the opposite-end Ethercat site after 2-out-of-2 check is carried out on two opposite-end processors, and the two opposite-end processors are two processors connected with the opposite-end Ethercat site;
and the forwarding module is used for forwarding the opposite-end transmission data and the opposite-end check code to the two local-end processors so that the two local-end processors check the opposite-end transmission data respectively based on the opposite-end check code, and the two local-end processors are two processors connected with a local-end Ethercat site.
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| CN114567485A (en) * | 2022-03-01 | 2022-05-31 | 北京全路通信信号研究设计院集团有限公司 | Data processing method, device, equipment and storage medium |
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