CN114374575A - Airborne distributed node CAN bus network architecture data transmission method - Google Patents
Airborne distributed node CAN bus network architecture data transmission method Download PDFInfo
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- CN114374575A CN114374575A CN202111069409.5A CN202111069409A CN114374575A CN 114374575 A CN114374575 A CN 114374575A CN 202111069409 A CN202111069409 A CN 202111069409A CN 114374575 A CN114374575 A CN 114374575A
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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
- H04L12/40006—Architecture of a communication node
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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
- H04L12/40143—Bus networks involving priority mechanisms
- H04L12/40163—Bus networks involving priority mechanisms by assigning priority to messages according to a message field
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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
- H04L12/40182—Flexible bus arrangements involving redundancy by using a plurality of communication lines
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
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- 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
- H04L2012/40267—Bus for use in transportation systems
- H04L2012/4028—Bus for use in transportation systems the transportation system being an aircraft
Abstract
The application belongs to the field of aviation airborne equipment networking, and particularly relates to a data transmission method for an airborne distributed node CAN bus network architecture. The method mainly comprises the following steps: determining a message identifier, wherein the message identifier comprises a message type, a message number, source equipment and target equipment, the message type and the message number are positioned at a high byte position and are used for limiting the size of the message identifier, the message type and the message number are determined according to the priority of the message, and the higher the message priority is, the smaller the message identifier is set; and sending a message, transmitting the data carrying the message identifier and the message content on a CAN bus, and selectively sending the data to each node device on a CAN bus network architecture according to the target device in the message identifier. The method and the device realize a simple and efficient networking mode and a transmission protocol, and have high task reliability.
Description
Technical Field
The application belongs to the field of aviation airborne equipment networking, and particularly relates to a data transmission method for an airborne distributed node CAN bus network architecture.
Background
The choice of bus and the design of the transmission protocol determine to a large extent the performance and maintainability of the airborne network. In some airborne systems, each device exists in a distributed manner, and transmission of control commands and status data exists between different devices, so that point-to-point unicast communication, point-to-multipoint multicast communication and point-to-all-point broadcast communication between devices need to be realized. At present, data transmission is realized by adopting a point-to-point mode among all devices, and the maintainability and the expandability of the system are not ideal.
Currently, the commonly used aviation loading buses mainly comprise ARINC-429, RS485, RS422, GJB289A, FC and the like. The transmission of the three buses of ARINC-429, RS485 and RS422 is in a one-way broadcast mode, and unicast transmission of a point to a specific node and multicast transmission of a point to a specific multipoint are not supported; the GJB289A bus is mainly applied to the construction of a central network with high-reliability transmission and is not suitable for networking transmission among distributed nodes; the FC bus supports high-bandwidth and low-delay transmission, has a flexible topological structure, is suitable for a system with a heavier network load, and has no advantages in the aspects of construction cost and maintenance cost because the transmission data volume of control instructions and state data between airborne distributed nodes is not large.
Compared with the bus, the CAN bus CAN effectively support distributed control and real-time control, the transmission rate CAN reach 1Mbps, the non-destructive arbitration technology is adopted, bus conflict CAN be effectively avoided, networking is flexible, construction and maintenance cost is low, and the method is suitable for transmission of control instructions and state data between airborne distributed nodes. At present, the application of the airborne field to the CAN bus is less, point-to-point communication between two devices is mainly adopted, and the application and the design of the distributed node networking in the airborne field are not specially adopted.
Disclosure of Invention
In order to solve the above problem, the present application provides a data transmission method for an airborne distributed node CAN bus network architecture, which mainly includes:
determining a message identifier, wherein the message identifier comprises a message type, a message number, source equipment and target equipment, the message type and the message number are positioned at a high byte position and are used for limiting the size of the message identifier, the message type and the message number are determined according to the priority of the message, and the higher the message priority is, the smaller the message identifier is set;
and sending a message, transmitting the data carrying the message identifier and the message content on a CAN bus, and selectively sending the data to each node device on a CAN bus network architecture according to the target device in the message identifier.
Preferably, the target device in the message identifier includes a plurality of byte bits, each byte bit corresponds to a node device on the CAN bus network architecture, each byte bit is selectively set to 1 or 0, and when a message is sent, whether the node corresponding to the byte bit receives the message content is determined according to the number of the corresponding byte bit.
Preferably, each node device is provided with a node masker and a filter to filter the message content, and when the node device receives the message content sent by the source device, and the byte bit corresponding to the target device in the message identifier corresponding to the node device is 0, the message content of the source device is masked.
Preferably, the message identifier comprises 29 byte bits, wherein the message type occupies 4 byte bits, the message number occupies 7 byte bits, the source device occupies 4 byte bits, and the destination device occupies 14 byte bits.
Preferably, the airborne distributed node CAN bus network architecture includes a first CAN channel and a second CAN channel, one of the first CAN channel and the second CAN channel is a main channel, the other is a backup channel, the two CAN channels are respectively connected at two ends through a terminal resistor, and each node is respectively connected to the first CAN channel and the second CAN channel.
Preferably, one node device is selected as a channel fault determination device, the channel fault determination device periodically sends heartbeat to all other devices and receives heartbeat replies of the other devices, if the channel fault determination device does not receive the heartbeat replies of all the devices when the next heartbeat period arrives, it is determined that the main channel has a fault, a main channel fault message is broadcast to the other devices through the backup channel, and all the devices are switched to the backup channel for communication.
According to the method, a dual-redundancy hot backup design is adopted for the characteristics of control instruction and state data transmission among airborne distributed nodes, and the domain division and design are carried out on the message identifiers of the CAN bus extended data frame, so that a simple and efficient networking mode and a transmission protocol are realized; the method has the advantages of flexible networking, easy maintenance, software coding, support of various transmission modes such as unicast/multicast/broadcast and the like, and high task reliability.
Drawings
Fig. 1 is a schematic diagram of a CAN bus network architecture of the data transmission method of the airborne distributed node CAN bus network architecture of the present application.
Detailed Description
In order to make the implementation objects, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be described in more detail below with reference to the accompanying drawings in the embodiments of the present application. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some, but not all embodiments of the present application. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application, and should not be construed as limiting the present application. All other embodiments obtained by a person of ordinary skill in the art without any inventive work based on the embodiments in the present application are within the scope of protection of the present application. Embodiments of the present application will be described in detail below with reference to the drawings.
The invention aims at the transmission of control instructions and state data among loading distributed nodes, is easy to maintain and has high task reliability, and can support various information transmission modes such as unicast/multicast/broadcast and the like.
The invention provides an airborne distributed node CAN bus network architecture and a protocol design method, which are suitable for transmission of control instructions and state data among airborne distributed nodes. The method comprises the following specific steps:
determining a message identifier, wherein the message identifier comprises a message type, a message number, source equipment and target equipment, the message type and the message number are positioned at a high byte position and are used for limiting the size of the message identifier, the message type and the message number are determined according to the priority of the message, and the higher the message priority is, the smaller the message identifier is set;
and sending a message, transmitting the data carrying the message identifier and the message content on a CAN bus, and selectively sending the data to each node device on a CAN bus network architecture according to the target device in the message identifier.
In some optional embodiments, the target device in the message identifier includes a plurality of byte bits, each byte bit corresponds to a node device on the CAN bus network architecture, each byte bit is selectively set to 1 or 0, and when a message is sent, whether the node corresponding to the byte bit receives the message content is determined according to the number of the corresponding byte bit.
In some optional embodiments, a node masker and a filter are arranged in each node device to filter message content, and when the node device receives message content sent by a source device, and a byte bit corresponding to a target device in a packet identifier corresponding to the node device is 0, the message content of the source device is masked.
The application relates to a CAN bus network architecture, message classification design, unicast/multicast/broadcast communication implementation and dual-redundancy hot backup.
The CAN bus network architecture is used for CAN bus networking of airborne distributed nodes, and is connected with terminal resistors at two ends for matching, so that information transmission of two independent channels of CAN1 and CAN2 is realized. Wherein CAN1 is the main channel, CAN2 is the spare channel, and the network architecture is shown in fig. 1: the transmission adopts an extended data frame format, and each frame comprises a 29-bit message identifier and transmission data of at most 8 bytes; aiming at the characteristics of communication between airborne distributed nodes, the message identifier is subjected to domain division and design, and is divided into four identification domains, namely a message type, a message number, source equipment and target equipment, as follows:
| ID28～ID25 | ID24～ID18 | ID17～ID14 | ID13～ID0 |
| message type | Message number | Source device | Target device |
According to the method, 28-25 bits in the message identifier are set as a message type field, 24-18 bits are set as a message number field, all messages can be classified according to message types, the maximum number of the message types is 16, and each message type comprises 128 messages at most. If the demand type or the message content is newly added in the network, the corresponding content is only added in the message type field or the message number field; since the priority of the CAN bus message is determined by the message identifier, the smaller the message identifier is, the higher the priority of the message is, and therefore the determination of the message type and the message number is determined by the content of the message and the transmission priority.
The unicast/multicast/broadcast communication is realized by setting 17-14 bits in a message identifier as a source equipment identification domain for identifying source equipment, wherein the maximum number of the source equipment is 16; 13 ~ 0 bit sets up to target device identification field, and each bit corresponds a equipment in the network, through setting up CAN node shield ware and wave filter, a certain position 1 in the target device identification field, then corresponding target device CAN receive this message, otherwise, corresponding target device CAN't receive this message to realize in the network between the node single point to the single point, single point to the multiple point, the communication between the single point to all nodes.
This application adopts dual-redundancy hot backup, realizes two passageways of activestandby in the network, set up equipment 1 into CAN passageway trouble discrimination equipment, equipment 1 periodically sends the heartbeat message to all equipment on the bus, other equipment carry out the heartbeat reply after receiving the heartbeat message, if equipment 1 still does not receive the heartbeat reply of all equipment when next heartbeat cycle arrives, then judge that the main entrance breaks down to broadcast main entrance trouble message to other equipment through being equipped with the passageway, all equipment hot switchings communicate to being equipped with the passageway, thereby improve CAN network's task reliability.
The application relates to a CAN bus network architecture, message classification design, unicast/multicast/broadcast communication implementation and dual-redundancy hot backup. The CAN bus network architecture carries out CAN bus networking design on airborne distributed nodes, a distributed dual-redundancy bus network is built, the networking mode is flexible, and the expansion and cutting of the number of devices in the network CAN be realized; the message classification design is used for designing the message identifier of the CAN bus message of the extended data frame, setting a message type identification field and a message number identification field, classifying all messages according to the minor system type, and enhancing the maintainability of the messages in the network; the unicast/multicast/broadcast communication is realized by setting a source equipment identification field and a target equipment identification field in a CAN bus message identifier of an extended data frame, and setting a CAN node shielding device and a filter through software to realize point-to-point, point-to-multipoint and point-to-all-point communication among nodes in a network; the dual-redundancy hot backup judges the transmission fault of the main channel in the main channel and the standby channel through the periodic heartbeat message, and CAN be switched to the backup channel in a hot mode, so that the task reliability of the CAN network is further improved.
Although the invention has been described in detail hereinabove with respect to a general description and specific embodiments thereof, it will be apparent to those skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (6)
1. A data transmission method of an airborne distributed node CAN bus network architecture is characterized by comprising the following steps:
determining a message identifier, wherein the message identifier comprises a message type, a message number, source equipment and target equipment, the message type and the message number are positioned at a high byte position and are used for limiting the size of the message identifier, the message type and the message number are determined according to the priority of the message, and the higher the message priority is, the smaller the message identifier is set;
and sending a message, transmitting the data carrying the message identifier and the message content on a CAN bus, and selectively sending the data to each node device on a CAN bus network architecture according to the target device in the message identifier.
2. The method as claimed in claim 1, wherein the target device in the message identifier includes a plurality of byte bits, each byte bit corresponds to a node device on the CAN bus network architecture, each byte bit is selectively set to 1 or 0, and when a message is sent, whether the node corresponding to the byte bit receives the message content is determined according to the number of the corresponding byte bit.
3. The data transmission method of the airborne distributed node CAN bus network architecture of claim 2, wherein a node shield and a filter are arranged on each node device to filter message contents, and when the node device receives the message contents sent by a source device, and a corresponding byte bit of a target device in a message identifier corresponding to the node device is 0, the message contents of the source device are shielded.
4. The method of claim 1, wherein the message identifier comprises 29 bytes, and wherein the message type occupies 4 bytes, the message number occupies 7 bytes, the source device occupies 4 bytes, and the destination device occupies 14 bytes.
5. The method according to claim 1, wherein the onboard distributed node CAN bus network architecture includes a first CAN channel and a second CAN channel, one of the first CAN channel and the second CAN channel is a main channel, the other is a backup channel, the two CAN channels are respectively connected at two ends through a terminal resistor, and each node is respectively connected to the first CAN channel and the second CAN channel.
6. The data transmission method of the airborne distributed node CAN bus network architecture as claimed in claim 5, wherein a node device is selected as a channel fault discrimination device, the channel fault discrimination device periodically sends heartbeat to all other devices and receives heartbeat replies of the other devices, if the channel fault discrimination device does not receive the heartbeat replies of all the devices when the next heartbeat period arrives, it is determined that the main channel has a fault, a main channel fault message is broadcast to the other devices through the backup channel, and all the devices are hot-switched to the backup channel for communication.
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Cited By (1)
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| CN114726676A (en) * | 2022-04-25 | 2022-07-08 | 宁波天擎航天科技有限公司 | Method for processing redundant message in CAN bus dual-channel backup |
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