CN113973025A - CAN bus-based satellite-borne computer communication reliability and fault tolerance design method - Google Patents
CAN bus-based satellite-borne computer communication reliability and fault tolerance design method Download PDFInfo
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- 238000004891 communication Methods 0.000 title claims abstract description 34
- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000013461 design Methods 0.000 title claims abstract description 12
- 230000004044 response Effects 0.000 claims abstract description 40
- 238000012545 processing Methods 0.000 claims abstract description 14
- 238000001514 detection method Methods 0.000 claims abstract description 11
- 238000004806 packaging method and process Methods 0.000 claims description 6
- 230000002159 abnormal effect Effects 0.000 claims description 4
- 238000009825 accumulation Methods 0.000 claims description 3
- 230000002567 autonomic effect Effects 0.000 claims description 3
- 230000005855 radiation Effects 0.000 abstract description 5
- 230000005540 biological transmission Effects 0.000 description 10
- 230000000191 radiation effect Effects 0.000 description 3
- 239000002245 particle Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005670 electromagnetic radiation Effects 0.000 description 1
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40169—Flexible bus arrangements
- H04L12/40176—Flexible bus arrangements involving redundancy
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40169—Flexible bus arrangements
- H04L12/40176—Flexible bus arrangements involving redundancy
- H04L12/40189—Flexible bus arrangements involving redundancy by using a plurality of bus systems
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
- H04L41/06—Management of faults, events, alarms or notifications
- H04L41/0654—Management of faults, events, alarms or notifications using network fault recovery
- H04L41/0663—Performing the actions predefined by failover planning, e.g. switching to standby network elements
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
Abstract
The design method for the communication reliability and fault tolerance of the spaceborne computer based on the CAN bus comprises fault detection, autonomous fault processing and repair. The fault detection comprises the following steps: when a fault occurs, the on-board computer identifies the fault type, sets a corresponding fault identification position, forms single-machine fault information and updates the single-machine fault information into a CAN remote sensing response data packet of the period; the central machine senses the fault state of the satellite-borne computer of the slave node according to the received CAN telemetering response data packet, and fault detection is realized; the automatic fault processing and repairing comprises an automatic switching mode and a forced switching mode, wherein the automatic switching mode is to automatically switch the CAN A bus/the CAN B bus according to the preset time length, and the steps are repeated; the forced switching mode is that the central machine issues a CAN forced switching instruction data packet through a CAN A bus and a CAN B bus, so that the satellite-borne computer is switched to a corresponding bus. The design method provided by the invention CAN realize the autonomous fault processing and repairing of the CAN bus fault and improve the reliability of the electronic system in the radiation environment.
Description
Technical Field
The invention relates to the technical field of on-orbit data transmission reliability of aerospace products, in particular to a method for designing communication reliability and fault tolerance of an on-board computer based on a CAN (controller area network) bus.
Background
The aerospace type spaceborne computer not only needs to meet high performance, but also must ensure the accuracy and reliability of data processing, transmission and control. The spaceborne computer is often exposed to various electromagnetic radiation environments, the radiation environments are full of various high-energy particles, the high-energy particles impact electronic devices in work to cause radiation effect, and soft errors caused by the radiation effect are one of the main reasons for causing the failure of the electronic systems in the space environment. The single event upset effect is a space radiation effect, which is directly applied to the inside of an aerospace electronic component, so that logic bit upset errors occur in a logic circuit, memory data and register value errors can be caused, and software runaway, processor faults, system halt, incapability of recovering a communication link and incapability of completely eliminating a single machine by depending on hardware measures can be caused in serious cases.
With the wider and wider application of the CAN bus in aerospace products, the data transmission realized by the CAN usually adopts a frame transmission mode, that is, messages transmitted on the bus are transmitted in a frame structure, and when the data volume needing to be transmitted in actual communication is large, the effective data of the equipment is divided into a plurality of data frames for transmission. The bus communication network is blocked and data redundancy and other problems are caused because a plurality of data frames always occupy the bus in a concentrated manner, so that the communication among the devices is influenced, the reliability of the bus is reduced, and the problems of multi-frame data transmission frame loss exist, so that the requirements of high reliability, high availability and autonomous fault tolerance provided by large military products such as aviation and aerospace are difficult to meet.
Disclosure of Invention
Aiming at the current situation, the invention provides a CAN bus-based on-board computer communication reliability and fault tolerance design method, which CAN realize the autonomous fault processing and repairing of CAN bus faults and improve the reliability of an electronic system in a radiation environment.
In order to realize the purpose of the invention, the following scheme is adopted:
a communication link of the on-board computer based on a CAN bus adopts a dual-redundancy bus network structure and comprises a CAN A bus and a CAN B bus, the CAN A bus and the CAN B bus are physically isolated, the CAN A bus and the CAN B bus are simultaneously connected with a CAN master node and a CAN slave node, the CAN master node is a central machine, and the CAN slave node is the on-board computer. The design method comprises the following steps:
and (3) fault detection:
the central machine simultaneously sends CAN instruction data packets through a CAN bus A and a CAN bus B;
the satellite-borne computer receives the CAN instruction data packet through the CAN bus A or/CAN bus B for caching, and caches CAN telemetering response data which needs to be sent to the central machine; for CAN telemetering response data only replying 1 frame, directly returning state information after receiving a CAN command data packet; for CAN telemetering response data which needs to be replied by more than a plurality of frames, after receiving a CAN command data packet, carrying out CAN telemetering response data packet packaging, returning a CAN telemetering response data packet in a multi-frame form, and sending each frame according to a frame sequence, wherein the frame interval is less than 1 ms;
updating the CAN telemetering response data packet once every 1s control period by the spaceborne computer, reading input bit port state information before packaging the CAN telemetering response data packet, and updating the input bit port state information to the CAN telemetering response data packet;
the CAN remote sensing response data packet comprises single machine state information, communication information and single machine fault information, wherein the single machine fault information comprises at least one of a power-on/reset state, CAN A bus and CAN B bus identifiers, FLASH current refreshing cycle faults, SRAM single error accumulation times, CPU abnormal Trap entering type and instruction data packet receiving state identifiers;
when a fault occurs, the on-board computer identifies the fault type, sets a corresponding fault identification position, forms single-machine fault information and updates the single-machine fault information into a CAN remote sensing response data packet of the period;
the central machine senses the fault state of the satellite-borne computer of the slave node according to the received CAN telemetering response data packet, and fault detection is realized;
autonomic failure handling and repair:
the on-board computer sets an automatic switching mode and a forced switching mode;
the automatic switching mode is as follows: if the CAN command data packet cannot be received on the CAN A bus for the preset duration, the CAN command data packet is automatically switched to the CAN B bus, and if the CAN command data packet cannot be received on the CAN B bus for the preset duration, the CAN command data packet is automatically switched to the CAN A bus, and the steps are repeated;
the forced switching mode is as follows: the central machine CAN issue a CAN forced switching instruction data packet through a CAN A bus and a CAN B bus to switch the satellite-borne computer to the corresponding bus; when the on-board computer receives a CAN forced switching instruction data packet, switching to a corresponding bus according to the instruction content;
the spaceborne computer only selects one bus to communicate at any moment, and when one bus is selected to communicate, the other bus is in an idle state and only passively receives CAN instructions without processing.
Data check bits are designed for both the CAN instruction data packet and the CAN telemetering response data packet and used for checking the integrity and the correctness of the data packet through the data check bits when the data packet is received.
If the two bus channels fail to continuously communicate for a preset number of times and are not switched, the satellite borne computer is powered on again by sending a command data packet through the ground to try to recover communication.
The invention has the beneficial effects that:
1. aiming at the problem of the failure of space navigation products in the space radiation environment, the method performs reinforcement design, autonomous failure treatment and repair on key links on the software level; when communication is in fault, single-machine state information is reported in real time, when one path of CAN bus of a single machine has non-instantaneous fault during data transmission, a telemetering response data packet is sent to the central machine through the other path of CAN bus under the condition of maintaining continuous and uninterrupted communication of a bus link, so that the single machine autonomously recovers communication with the central machine, single-machine autonomous fault processing and repairing are realized, and continuous and uninterrupted communication on the CAN bus link is maintained.
2. The automatic mode can automatically switch back and forth according to preset time length to realize automatic fault processing, and can respond to a forced switching instruction actively issued by the central machine to switch, so that the reliability processing capability is improved.
3. The real-time fault tolerance and self-repair of the CAN bus-based spaceborne computer in the data processing, transmission and control processes CAN be realized.
4. The method can be generally applied to other wired communication modes with higher requirements on data transmission reliability, such as: optical fiber 1553, Ethernet, Spaceire, etc.
Drawings
Fig. 1 is a block diagram of a dual redundant bus network according to an embodiment of the present application.
Fig. 2 is a flow chart of instruction packet reception according to an embodiment of the present application.
Fig. 3 is a flowchart of an autonomous switching mode according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings.
The communication link of the spaceborne computer based on the CAN bus generally adopts a double-redundancy bus network structure, comprising A, B two buses, and a A, B bus hardware circuit adopts a physical isolation design. The central machine is a CAN master node, the spaceborne computer is a CAN slave node, and the network structure of the spaceborne computer is shown in figure 1.
When a CAN bus-based on-board computer fails due to radiation of a space environment, so that a non-instantaneous failure occurs in one path of CAN communication, on one hand, the system needs to sense the failure and report the failure to a central machine; on the other hand, the system also needs to be autonomously scheduled to another path of CAN bus link for continuous and uninterrupted communication, so as to ensure the stability and reliability of the link. Where how the system is made aware of the failure (i.e. failure detection) and how to recover after the failure is discovered is the core of the problem.
The embodiment of the application provides a CAN bus-based on-board computer communication reliability and fault tolerance design method, which comprises fault detection, autonomous fault processing and repair.
1) In fault detection, a flow chart of instruction data packet receiving software is shown in fig. 2, and the specific steps include:
the central machine simultaneously sends CAN instruction data packets through a CAN bus A and a CAN bus B;
the satellite-borne computer receives the CAN instruction data packet through the CAN bus A or the CAN bus B for caching, and caches CAN telemetering response data which needs to be sent to the central machine; for CAN telemetering response data only replying 1 frame, directly returning state information after receiving a CAN command data packet; and for CAN telemetering response data which needs to be replied by more than a plurality of frames, after receiving a CAN command data packet, carrying out CAN telemetering response data packet packaging, returning the CAN telemetering response data packet in a multi-frame form, and sending each frame according to a frame sequence, wherein the frame interval is less than 1 ms.
Data check bits are designed for both the CAN instruction data packet and the CAN telemetering response data packet and used for checking the integrity and the correctness of the data packet through the data check bits when the data packet is received.
Updating the CAN telemetering response data packet once every 1s control period by the spaceborne computer, reading input bit port state information before packaging the CAN telemetering response data packet, and updating the input bit port state information to the CAN telemetering response data packet; so that the central computer can know the single machine state of the satellite-borne computer in time, and the ground can conveniently take measures to maintain or upgrade products on track.
The CAN telemetering response data packet comprises single machine state information, communication information and single machine fault information, wherein the single machine fault information comprises at least one of power-on/reset state, CAN A bus and CAN B bus identifiers, FLASH current refreshing cycle faults, SRAM single error accumulation times, CPU abnormal Trap entering type and instruction data packet receiving state identifiers.
An example of a single machine fault information table is the following table:
when a fault occurs, the on-board computer identifies the fault type, sets a corresponding fault identification position, forms single-machine fault information and updates the single-machine fault information into a CAN remote sensing response data packet of the period; and the central machine senses the fault state of the satellite-borne computer of the slave node according to the received CAN telemetering response data packet, so that fault detection is realized.
2) Autonomic failure handling and repair
In the embodiment, the satellite-borne computer single machine is provided with two bus switching modes, namely an autonomous switching mode and a forced switching mode, when one path of CAN bus of the single machine has non-instantaneous faults during data transmission, and a telemetering response data packet is sent to the central machine through the other path of CAN bus under the condition of maintaining continuous and uninterrupted communication of a bus link, so that the single machine autonomously recovers communication with the central machine, and autonomous fault processing and repairing of the single machine are realized.
The principle of the autonomous switching bus is as follows: when the bus mode is set as the autonomous switching mode, if the command data packet cannot be received for 6s continuously on the CAN a bus, the single machine is autonomously switched to the CAN B bus, and data cannot be received for 6s continuously on the CAN B bus, the single machine is autonomously switched to the CAN a bus, and the steps are repeated, as shown in fig. 3.
When one path of communication in the CAN is abnormal, the CAN CAN be automatically switched to another channel to receive and transmit data. If the two channels fail to continuously communicate for 6 times, the channels are not switched. The ground is required to instruct the packet to attempt to resume communication with the stand-alone power-on reset.
In the single machine debugging stage or the communication testing stage with the central machine, the channel does not need to be frequently switched, and then the communication mode is set as follows: the mode is forced to switch.
The principle of forced switching the bus is as follows: the central machine CAN issue a forced switching instruction data packet through the CAN bus and force the single machine to be switched to the corresponding bus; and when the single machine receives the CAN bus forced switching instruction data packet, switching to the corresponding bus (forcibly selecting the CAN A bus or forcibly selecting the CAN B bus) according to the instruction content. In this case, even if the command packet is not received for 6 seconds, the single device does not autonomously switch the bus.
In this example, the on-board computer selects only one bus to communicate at any one time. When each load single machine selects one bus for communication, the other bus is in an idle state and only passively receives the CAN command without processing.
The foregoing is merely a preferred embodiment of this invention and is not intended to be exhaustive or to limit the invention to the precise form disclosed. It will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the scope of the invention.
Claims (3)
1. A communication link of the on-board computer based on a CAN bus adopts a dual-redundancy bus network structure and comprises a CAN A bus and a CAN B bus, the CAN A bus and the CAN B bus are physically isolated, the CAN A bus and the CAN B bus are simultaneously connected with a CAN main node and a CAN slave node, the CAN main node is a central machine, and the CAN slave node is the on-board computer, and the design method is characterized by comprising the following steps:
and (3) fault detection:
the central machine simultaneously sends CAN instruction data packets through a CAN bus A and a CAN bus B;
the satellite-borne computer receives the CAN instruction data packet through the CAN bus A or the CAN bus B for caching, and caches CAN telemetering response data which needs to be sent to the central machine; for CAN telemetering response data only replying 1 frame, directly returning state information after receiving a CAN command data packet; for CAN telemetering response data which needs to be replied by more than a plurality of frames, after receiving a CAN command data packet, carrying out CAN telemetering response data packet packaging, returning a CAN telemetering response data packet in a multi-frame form, and sending each frame according to a frame sequence, wherein the frame interval is less than 1 ms;
updating the CAN telemetering response data packet once every 1s control period by the spaceborne computer, reading input bit port state information before packaging the CAN telemetering response data packet, and updating the input bit port state information to the CAN telemetering response data packet;
the CAN remote sensing response data packet comprises single machine state information, communication information and single machine fault information, wherein the single machine fault information comprises at least one of a power-on/reset state, CAN A bus and CAN B bus identifiers, FLASH current refreshing cycle faults, SRAM single error accumulation times, CPU abnormal Trap entering type and instruction data packet receiving state identifiers;
when a fault occurs, the on-board computer identifies the fault type, sets a corresponding fault identification position, forms single-machine fault information and updates the single-machine fault information into a CAN remote sensing response data packet of the period;
the central machine senses the fault state of the satellite-borne computer of the slave node according to the received CAN telemetering response data packet, and fault detection is realized;
autonomic failure handling and repair:
the on-board computer sets an automatic switching mode and a forced switching mode;
the automatic switching mode is as follows: if the CAN command data packet cannot be received on the CAN A bus for the preset duration, the CAN command data packet is automatically switched to the CAN B bus, and if the CAN command data packet cannot be received on the CAN B bus for the preset duration, the CAN command data packet is automatically switched to the CAN A bus, and the steps are repeated;
the forced switching mode is as follows: the central machine issues a CAN forced switching instruction data packet through a CAN A bus and a CAN B bus, so that the satellite-borne computer is switched to a corresponding bus; when the on-board computer receives a CAN forced switching instruction data packet, switching to a corresponding bus according to the instruction content;
the spaceborne computer only selects one bus to communicate at any moment, and when one bus is selected to communicate, the other bus is in an idle state and only passively receives CAN instructions without processing.
2. The CAN bus-based design method for reliability and fault tolerance of on-board computer communication of claim 1, wherein both the CAN command data packet and the CAN telemetry response data packet are designed with data check bits for checking the integrity and correctness of the data packet via the data check bits upon receipt.
3. The CAN-bus-based design method for communication reliability and fault tolerance of the spaceborne computer, as set forth in claim 1, wherein if two bus channels fail to communicate continuously for a predetermined number of times and are not switched, the communication is restored by a ground-based command data packet to power on the spaceborne computer again and reset to try.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114802820A (en) * | 2022-05-12 | 2022-07-29 | 中国电子科技集团公司第十研究所 | Power management control structure and method for spacecraft payload |
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