CN114513385B - Data transmission method, device, electronic equipment and storage medium - Google Patents

Data transmission method, device, electronic equipment and storage medium Download PDF

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Publication number
CN114513385B
CN114513385B CN202210295384.9A CN202210295384A CN114513385B CN 114513385 B CN114513385 B CN 114513385B CN 202210295384 A CN202210295384 A CN 202210295384A CN 114513385 B CN114513385 B CN 114513385B
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data transmission
data
frame
flow control
continuous
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CN114513385A (en
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刘均
李森
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Shenzhen Launch Technology Co Ltd
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Shenzhen Launch Technology Co Ltd
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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
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/008—Registering or indicating the working of vehicles communicating information to a remotely located station
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
    • G07C5/0808—Diagnosing performance data
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
    • H04L69/22—Parsing or analysis of headers
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
    • H04L69/24—Negotiation of communication capabilities
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L2012/40208—Bus networks characterized by the use of a particular bus standard
    • H04L2012/40215—Controller Area Network CAN

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Computer Security & Cryptography (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Communication Control (AREA)

Abstract

The application is applicable to the technical field of automobile electronics, and provides a data transmission method, a device, electronic equipment and a storage medium, wherein the method comprises the following steps: the data transmission device receives a first frame and a continuous frame of target data sent by the data sending device; the data transmission equipment sends the first frame to the data receiving equipment and receives a target flow control frame sent by the data receiving equipment based on the first frame; the data transmission equipment analyzes the target flow control frame and acquires the minimum time interval of the data receiving equipment carried in the target flow control frame for receiving the data; the data transmission device sequentially transmits successive frames to the data reception device at minimum time intervals. The data transmission device sequentially transmits the continuous frames to the data receiving device according to the minimum time interval of the data receiving device for receiving the data, so that the time interval for transmitting the continuous frames can be ensured to be in accordance with the data processing capability of the data receiving device, the reliability of remote diagnosis can be improved, and the problem of remote diagnosis failure caused by too fast data transmission can be solved.

Description

Data transmission method, device, electronic equipment and storage medium
Technical Field
The application belongs to the technical field of automobile electronics, and particularly relates to a data transmission method, a data transmission device, electronic equipment and a storage medium.
Background
Fig. 1 shows an architecture commonly used in remote diagnosis of an automobile, which includes a B-terminal, a C-terminal, a diagnostic apparatus connected to the B-terminal, and a vehicle to be diagnosed connected to the C-terminal, wherein the B-terminal is a first data transmission device, and the C-terminal is a second data transmission device.
The second data transmission device acquires data of the vehicle to be diagnosed, then the vehicle data is sent to the first data transmission device through the cloud, and the first data transmission device sends the vehicle data to the diagnostic instrument to realize remote diagnosis.
Since the vehicle remote diagnosis requires a high delay (usually no more than 55 ms), in the actual diagnosis process, although the architecture shown in fig. 1 can realize remote diagnosis, it is difficult to ensure that the delay in data transmission does not exceed 55 ms, and communication failure is easily caused by overtime, but if the time interval of data transmission is too small, the diagnosis device cannot process the data, and the diagnosis failure is also caused.
Disclosure of Invention
The embodiment of the application provides a data transmission method, a data transmission device, electronic equipment and a storage medium, which solve the problem of diagnosis failure caused by too short data transmission interval time.
In a first aspect, an embodiment of the present application provides a data transmission method, where the method is applied to a data transmission device in a data transmission system, where the data transmission system further includes a data sending device and a data receiving device, where the data transmission device is communicatively connected to the data sending device and the data receiving device respectively, and the method includes:
the data transmission device receives a first frame and a continuous frame of target data sent by the data sending device;
the data transmission equipment sends the first frame to the data receiving equipment and receives a target flow control frame sent by the data receiving equipment based on the first frame;
the data transmission equipment analyzes the target flow control frame and acquires the minimum time interval of the data receiving equipment carried in the target flow control frame for receiving data;
and the data transmission equipment sequentially transmits the continuous frames to the data receiving equipment according to the minimum time interval.
Optionally, the continuous frame carries a timestamp when the data transmission device receives the continuous frame from the data transmission device; after the data transmission device parses the target flow control frame, the method further includes:
The data transmission equipment judges whether the minimum time interval is carried in the target flow control frame;
if the minimum time interval is not carried in the target flow control frame, the data transmission equipment calculates the time difference between the current continuous frame and the last continuous frame according to the time stamps of the current continuous frame and the last continuous frame, and takes the time difference as the minimum time interval.
Optionally, the target data is data using a CAN communication protocol, and before the data transmission device receives the target flow control frame sent by the data receiving device based on the first frame, the method further includes:
the data transmission equipment analyzes the acquired continuous frames, acquires the CANID carried by each continuous frame, and stores each continuous frame into a storage area corresponding to the CANID;
after the data transmission device receives the target flow control frame sent by the data receiving device based on the first frame, the method further comprises the following steps:
the data transmission equipment analyzes the target flow control frame and acquires a target CANID carried by the target flow control frame;
the data transmission device sends the continuous frames to the data receiving device in turn according to the minimum time interval, and the method comprises the following steps:
The data transmission equipment searches a storage area corresponding to the target CANID according to the target CANID;
and the data transmission equipment sequentially transmits the continuous frames to be transmitted in the storage area to the data receiving equipment according to the minimum time interval according to the target flow control frame.
Optionally, the data transmission device sequentially sends the continuous frames to be sent in the storage area to the data receiving device according to the minimum time interval according to the target flow control frame, including:
the data transmission device reads the continuous frames from the storage area;
the data transmission equipment updates the time stamp of the continuous frame according to the minimum time interval and the target CANID;
and the data transmission equipment sends the continuous frames to the data receiving equipment according to the updated time stamp.
Optionally, the data transmission device updates the time stamp of the continuous frame according to the minimum time interval and the target cand, including:
the minimum time interval is represented by means of a relative time, which is the time of the current continuous frame relative to the last continuous frame.
Optionally, after the data transmission device parses the target flow control frame, the method further includes:
And the data transmission equipment acquires the total frame number of the continuous frames to be transmitted of the current flow control carried in the target flow control frame.
Optionally, after the data transmission device sends the continuous frame to the data receiving device, the method further includes:
adding 1 to the number of transmitted frames;
and if the transmitted frame number is smaller than the total frame number, executing the steps that the data transmission equipment reads the continuous frames from the storage area and the follow-up steps.
In a second aspect, an embodiment of the present application provides a data transmission apparatus, where the data transmission apparatus is built in a data transmission device in a data transmission system, where the data transmission system further includes a data sending device and a data receiving device, where the data transmission device is communicatively connected to the data sending device and the data receiving device respectively, and the data transmission apparatus includes:
the data receiving module is used for receiving the first frame and the continuous frame of the target data sent by the data sending equipment;
the data transmission module is used for transmitting the first frame to data receiving equipment and receiving a target flow control frame transmitted by the data receiving equipment based on the first frame;
the time interval acquisition module is used for analyzing the target flow control frame and acquiring the minimum time interval of the data receiving equipment carried in the target flow control frame for receiving data;
And the continuous frame sending module is used for sequentially sending the continuous frames to the data receiving equipment according to the minimum time interval.
Optionally, the continuous frame carries a timestamp when the data transmission device receives the continuous frame from the data transmission device;
the data transmission device further includes:
the time interval judging module is used for judging whether the minimum time interval is carried in the target flow control frame or not;
and the time interval determining module is used for calculating the time difference between the current continuous frame and the last continuous frame according to the time stamps of the current continuous frame and the last continuous frame if the minimum time interval is not carried in the target flow control frame, and taking the time difference as the minimum time interval.
Optionally, the target data is data using a CAN communication protocol, and the data transmission device further includes:
the storage module is used for analyzing the acquired continuous frames, acquiring a CANID carried by each continuous frame, and storing each continuous frame into a storage area corresponding to the CANID;
the data transmission device further includes:
the target identification acquisition module is used for analyzing the target flow control frame and acquiring a target CANID carried by the target flow control frame;
The continuous frame transmitting module includes:
a storage area searching unit, configured to search a storage area corresponding to the target nid according to the target nid;
and the continuous frame sending unit is used for sequentially sending the continuous frames to be sent in the storage area to the data receiving equipment according to the minimum time interval according to the target flow control frame.
Optionally, the continuous frame sending unit includes:
a continuous frame reading subunit for reading the continuous frames from the storage area;
a timestamp updating subunit, configured to update timestamps of the continuous frames according to the minimum time interval and the target cand;
and the continuous frame sending subunit is used for sending the continuous frames to the data receiving equipment according to the updated time stamp.
Optionally, the timestamp updating subunit includes:
the time interval is provided with a micro unit for representing the minimum time interval in a relative time mode, wherein the relative time is the time of the current continuous frame relative to the last continuous frame.
Optionally, the data transmission device further includes:
and the total frame number acquisition module is used for acquiring the total frame number of the continuous frames which are carried in the target flow control frame and need to be transmitted in the flow control.
Optionally, the data transmission device further includes:
the frame number updating module is used for adding 1 to the transmitted frame number;
and the frame number judging module is used for executing the steps that the data transmission equipment reads the continuous frames from the storage area and the follow-up steps if the transmitted frame number is smaller than the total frame number.
In a third aspect, an embodiment of the present application provides an electronic device, including:
a memory, a processor and a computer program stored in the memory and executable on the processor, which when executed by the processor, performs the steps of the data transmission method according to the first aspect described above.
In a fourth aspect, embodiments of the present application provide a computer-readable storage medium, comprising: the computer readable storage medium stores a computer program which, when executed by a processor, implements the steps of data transmission described in the first aspect above.
In a fifth aspect, embodiments of the present application provide a computer program product for causing an electronic device to perform the steps of data transmission as described in the first aspect above, when the computer program product is run on the electronic device.
Compared with the prior art, the embodiment of the application has the beneficial effects that: the data transmission device receives a first frame and a continuous frame of target data sent by the data sending device; the data transmission equipment sends the first frame to the data receiving equipment and receives a target flow control frame sent by the data receiving equipment based on the first frame; the data transmission equipment analyzes the target flow control frame and acquires the minimum time interval of the data receiving equipment carried in the target flow control frame for receiving data; and the data transmission equipment sequentially transmits the continuous frames to the data receiving equipment according to the minimum time interval. Since the data transmission device sequentially transmits the continuous frames to the data reception device at the minimum time interval at which the data reception device receives the data, the time interval of the continuous frames transmitted to the data reception device by the data transmission device satisfies the processing capability of the data reception device. Therefore, the time interval for transmitting continuous frames can be ensured to be in accordance with the data processing capability of the data receiving equipment, the reliability of remote diagnosis can be improved, and the problem that the remote diagnosis fails due to too fast data transmission can be solved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the description of the embodiments or the prior art will be briefly described below.
FIG. 1 is a schematic diagram of a architecture commonly used in automotive remote diagnostics as provided in the prior art;
fig. 2 is a schematic flow chart of a data transmission method according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a data transmission device according to another embodiment of the present application;
fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system configurations, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
As used in this specification and the appended claims, the term "if" may be interpreted as "when..once" or "in response to a determination" or "in response to detection" depending on the context. Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described condition or event ]".
In addition, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.
Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.
Fig. 1 shows an architecture commonly used in remote diagnosis of an automobile, which includes a B-terminal, a C-terminal, a diagnostic apparatus connected to the B-terminal, and a vehicle to be diagnosed connected to the C-terminal, wherein the B-terminal is a first data transmission device, and the C-terminal is a second data transmission device. Specifically, the first data transmission device comprises a first micro control unit (Micro Controller Unit, MCU) and a first central processing unit (Central Processing Unit, CPU) Linux system; the second data transmission device comprises a second MCU and a second CPU Linux system.
The second MCU reads the data of the vehicle to be diagnosed through the CAN bus, then the data of the vehicle to be diagnosed is uploaded to the second CPU Linux system through the serial port, the second CPU Linux system transmits the data of the vehicle to be diagnosed to the first CPU Linux system through the cloud, the first CPU Linux system transmits the data of the vehicle to be diagnosed to the first MCU through the serial port, and the first MCU transmits the data of the vehicle to be diagnosed to the diagnostic instrument through the CAN bus, so that remote diagnosis is realized.
However, since the time delay requirements for automobile diagnostics are high, it is generally not more than 55 milliseconds. Especially for continuous frames, the time delay requirement is high, and communication failure is easily caused by time-out. The prior art therefore adopts a method of substitution flow control to solve this problem. However, remote diagnosis has another problem in that if the time interval for data transmission is too small, exceeding the processing power of the data receiving device, communication failure is caused. For example, a vehicle may send 8 consecutive frames to the C-terminal at 250 microsecond intervals, but may receive 8 packets of data at the same time due to the transmission through the network to the B-terminal, and if the data is received, the 8 consecutive frames are sent to the diagnostic apparatus together, the diagnostic apparatus may fail to process the data, resulting in failure of communication, and vice versa from the diagnostic apparatus to the vehicle. In order to solve the problem, when the C end receives the continuous frames, the C end records the receiving time on the time stamp, then sends the continuous frames to the B end, when the B end sends the continuous frames to the diagnostic apparatus, the time stamp of the current frame and the time stamp of the last frame are compared, if the time interval from the last sending is smaller than the time interval between the two time stamps, the C end waits until the time interval is met, and the C end resends the time interval, so that the sending interval is not too short when the multi-frames are received at the same time, and communication failure is caused.
However, the existing method for transmitting continuous frames according to the time interval of receiving continuous frames has the following problems when applied in the process of replacing the stream control:
because it is possible that the same can id data is used when running different services, the flow control is different. And only one flow control configuration can be selected in the configuration file according to certain rules. There is a certain probability that the substitution flow control is inconsistent with the actual flow control. For example, the flow control of the C-terminal substitution has no frame interval limitation, and the vehicle to be diagnosed will emit continuous frames at full speed at which the vehicle's electronic control unit (Electronic Control Unit, ECU) can handle. Assuming that the time interval is 250 microseconds here, but the minimum time interval for the consecutive frames of the actual diagnostic device's flow control setting is 20 milliseconds by the end B, the existing method is to send at 250 microseconds, which is significantly faster than the diagnostic device's processing speed, resulting in diagnostic failure.
Fig. 2 is a schematic flow chart of a data transmission method according to an embodiment of the present application, which is applicable to a data transmission device in a data transmission system, where the data transmission system further includes a data sending device and a data receiving device, where the data transmission device is communicatively connected to the data sending device and the data receiving device, respectively, and the method includes steps S210 to S240. The specific implementation principle of each step is as follows:
S210, the data transmission apparatus receives the first frame and the consecutive frames of the target data transmitted by the data transmission apparatus.
In some embodiments, the data transmission device is a first data transmission device, and the data transmission system further includes a second data transmission device, which is communicatively connected to the data transmission device, in addition to the first data transmission device, the data transmission device, and the data reception device.
Specifically, the first data transmission device includes a first MCU and a first CPU Linux system, the second data transmission device includes a second MCU and a second CPU Linux system, the data transmission device may be a vehicle to be diagnosed, and the data receiving device may be a diagnostic apparatus.
After the vehicle sends the target data to the second MCU, the second MCU can transmit the target data to the second CPU Linux system, and the second CPU Linux system sends the target data to the first data transmission device.
It should be noted that, after the second CPU Linux system, the second MCU and the vehicle to be diagnosed receive the target data sent by the diagnostic apparatus, the processing steps of the target data are the same as the processing steps after the first CPU Linux system, the first MCU and the diagnostic apparatus receive the target data sent by the vehicle to be diagnosed, which are not described herein, and the following steps are described by taking the first CPU Linux system, the first MCU and the diagnostic apparatus receive the target data sent by the vehicle to be diagnosed as examples.
S220, the data transmission device sends the first frame to the data receiving device and receives the target flow control frame sent by the data receiving device based on the first frame.
In some embodiments, after the first CPU Linux system receives the target data sent by the vehicle, the first CPU Linux system may transmit a first frame in the target data to the first MCU, and then the first MCU sends the first frame to the diagnostic apparatus.
After the diagnostic instrument receives the first frame sent by the first MCU, a target flow control frame can be generated based on the first frame, the target flow control frame is sent to the first MCU, and then the first MCU transmits the target flow control frame to the first CPU Linux system. The first CPU Linux system transmits consecutive frames according to the indication of the flow control frame only after receiving the target flow control frame.
And S230, the data transmission equipment analyzes the target flow control frame and acquires the minimum time interval of the data receiving equipment receiving data carried in the target flow control frame.
In some embodiments, after receiving the target flow control frame transmitted by the first MCU, the first CPU Linux system parses the target flow control frame to obtain a minimum time interval carried in the target flow control frame, where the minimum time interval is a minimum time interval for the diagnostic apparatus to receive data.
And S240, the data transmission device sequentially transmits the continuous frames to the data receiving device according to the minimum time interval.
In some embodiments, the first CPU Linux system sequentially transmits the continuous frames in the target data to the first MCU according to the minimum time interval, and then the first MCU sequentially transmits the continuous frames to the diagnostic apparatus according to the minimum time interval.
It should be understood that, in steps S210 to S240 described above, since the data transmission apparatus sequentially transmits consecutive frames to the data reception apparatus at the minimum time interval at which the data reception apparatus receives data, the time interval of the consecutive frames transmitted to the data reception apparatus by the data transmission apparatus satisfies the processing capability of the data reception apparatus. Specifically, when the data transmission device is a vehicle to be diagnosed and the data receiving device is a diagnostic apparatus, the time interval for transmitting continuous frames can be ensured to conform to the processing capability of the diagnostic apparatus, the reliability of remote diagnosis can be improved, and the problem of failure of remote diagnosis caused by too short data transmission interval can be solved.
In some embodiments, the continuous frame carries a timestamp when the data transmission device receives the continuous frame from the data transmission device, and on the basis of the embodiment of the data transmission method shown in fig. 2, after the data transmission device parses the target flow control frame, the following steps may be further performed:
And step 11, the data transmission equipment judges whether the target flow control frame carries the minimum time interval or not.
In some embodiments, the first CPU Linux system parses the target flow control frame, and if it parses that the minimum time interval between two adjacent frames set in the target flow control frame is 0, it may determine that the minimum time interval is not set in the target flow control frame.
And step 12, if the target flow control frame does not carry the minimum time interval, the data transmission device calculates the time difference between the current continuous frame and the last continuous frame according to the time stamps of the current continuous frame and the last continuous frame, and takes the time difference as the minimum time interval.
In some embodiments, if the minimum time interval is not set in the target flow control frame, the first CPU Linux system first obtains a time stamp of a current continuous frame and a time stamp of a last continuous frame, then subtracts the two time stamps to calculate a time difference between the current continuous frame and the last continuous frame, and finally uses the calculated time difference as the minimum time interval.
It should be understood that, in the steps 11 to 12, when the minimum time interval in which the data receiving device can receive data is not set in the target flow control frame, the time difference between the current continuous frame and the last continuous frame is taken as the minimum time interval, and therefore, the time interval of the continuous frame sent to the data receiving device by the data transmitting device meets the processing capability of the data receiving device. Specifically, when the data transmitting device is a vehicle to be diagnosed and the data receiving device is a diagnostic apparatus, it can be ensured that the time interval of transmitting continuous frames meets the requirement of vehicle remote diagnosis on time delay, and the reliability of remote diagnosis can be improved.
The existing method for transmitting continuous frames according to the time interval of receiving the continuous frames has the following problems in the process of replacing the stream control:
under the condition of flow control of the generation, the receiving and transmitting flow of continuous frames between the vehicle to be diagnosed and the diagnostic instrument is as follows: after the vehicle to be diagnosed sends the first frame, the C end replaces the back flow control, the vehicle to be diagnosed immediately returns the data of the continuous frame to the C end, and meanwhile, the vehicle to be diagnosed also has the data of other IDs, so that the receiving sequence of the C end can be seen to be the first frame, the continuous frame and the other data X. When the C-terminal transmits the data to the B-terminal, the continuous frames are not immediately transmitted to the first MCU to be sent, and the continuous frames can be sent only by the reflux control of the diagnostic instrument. If the diagnostic apparatus returns the control frame after the first MCU at the B end has transmitted the data X, the transmission sequence of the first MCU at the B end is changed to be the first frame, the other data X and the continuous frame. When the first MCU sends the continuous frames, the time stamps are compared, and the value of the first MCU is found to be smaller than that of the previous frame, the continuous frames are immediately sent out. This results in a frame interval sent to the diagnostic device that is significantly smaller than the actual frame interval, which may result in processing failure if the diagnostic device is less capable of processing. Conversely, there are problems from diagnostic instruments to vehicles to be diagnosed.
Therefore, in some embodiments, the target data is data using a CAN communication protocol, and the data transmission method of the present embodiment may further perform the following steps before the data transmission device receives the target flow control frame sent by the data receiving device based on the first frame:
and step 21, the data transmission equipment analyzes the obtained continuous frames, obtains the CANID carried by each continuous frame, and stores each continuous frame into a storage area corresponding to the CANID.
In some embodiments, the first CPU Linux system parses successive frames of the target data sent by the data sending device, extracts a cand carried by each successive frame from the successive frames, and stores each successive frame in a storage area corresponding to the cand thereof.
Correspondingly, after the data transmission device receives the target flow control frame sent by the data receiving device based on the first frame, the following steps may be further performed:
and step 22, the data transmission equipment analyzes the target flow control frame to obtain a target CANID carried by the target flow control frame.
In some embodiments, after receiving the target flow control frame transmitted by the first MCU, the first CPU Linux system analyzes the target flow control frame, so as to obtain a target cand carried in the target flow control frame.
Correspondingly, the data transmission device sequentially transmits the continuous frames to the data receiving device according to the minimum time interval, and the method may include the following steps:
step 23, the data transmission device searches the storage area corresponding to the target CANID according to the target CANID.
In some embodiments, the first CPU Linux system searches the storage area corresponding to the target cand according to the target cand obtained in step 22.
And step 24, the data transmission device sequentially transmits the continuous frames to be transmitted in the storage area to the data receiving device according to the minimum time interval according to the target flow control frame.
In some embodiments, the first CPU Linux system sequentially transmits the continuous frames to be sent in the storage area to the first MCU according to the minimum time interval according to the target flow control frame, and then the first MCU sends the continuous frames to the diagnostic apparatus.
It should be understood that, in the steps 21 to 24, each continuous frame corresponds to one nid, and the target fluid control frame carries the target nid, and the first CPU Linux system only transmits the continuous frame corresponding to the target nid at a time. Therefore, even if consecutive frames of other cands are interspersed in the transmission of consecutive frames or consecutive frames of different cands are alternately transmitted, since the time difference between two consecutive frames of the same cand is recorded in the minimum time interval, no error occurs in what order the time intervals between two frames of the same cand.
In addition, subsequently, the first CPU Linux system may update the time stamp of the continuous frame according to the minimum time interval and the target cand.
In some embodiments, the data transmission device sequentially transmits the continuous frames to be transmitted in the storage area to the data receiving device according to the target flow control frame at the minimum time interval, and may include the following steps:
step 31, the data transmission device reads the continuous frames from the storage area.
In some embodiments, after the first CPU Linux system finds a storage area corresponding to the target nid, the first CPU Linux system reads a nid from the storage area as a continuous frame of the target nid.
Step 32, the data transmission device updates the time stamp of the continuous frame according to the minimum time interval and the target caid.
In some embodiments, the first CPU Linux system updates the time stamp of the consecutive frames based on the minimum time interval and the target cand.
And step 33, the data transmission device sends the continuous frames to the data receiving device according to the updated time stamp.
In some embodiments, the first CPU Linux system transmits the continuous frames to the first MCU according to the updated time stamps, and the first MCU sends the continuous frames to the diagnostic apparatus according to the updated time stamps.
Specifically, the minimum time interval may be expressed in terms of a relative time, which is a time of a current continuous frame with respect to a previous continuous frame.
If t represents the time of the current continuous frame relative to the last continuous frame and last_t represents the time stamp of the last continuous frame, then t is equal to the difference between the time stamp of the current continuous frame and last_t.
It should be understood that, in the steps 31 to 33, since the time interval between two adjacent frames under the same nid is recorded in the updated timestamp, the sequence of two frames under the same nid is unchanged for the continuous frames under the same nid, so that it can be ensured that the time interval of transmitting the continuous frames accords with the requirement of vehicle remote diagnosis on time delay even if the transmission sequence and the receiving sequence of the continuous frames are inconsistent or the transmission flow control and the actual flow control are inconsistent, the reliability of remote diagnosis can be improved, and the problem of remote diagnosis failure caused by overtime can be solved.
In some embodiments, on the basis of the embodiment of the data transmission method shown in fig. 2, after the data transmission device parses the target flow control frame, the method may further include the following steps:
Step 41, the data transmission device obtains the total frame number of the continuous frames to be transmitted in the current flow control carried in the target flow control frame.
In some embodiments, the first CPU Linux system may further analyze the target flow control frame, so as to obtain a total frame number of the continuous frames to be transmitted in the current flow control carried in the target flow control frame.
Correspondingly, after the data transmission device transmits the continuous frame to the data receiving device, the method may further include the steps of:
step 42, adding 1 to the number of transmitted frames;
step 43, if the transmitted frame number is smaller than the total frame number, executing the steps of reading the continuous frame from the storage area and the following steps by the data transmission device.
In some embodiments, after the first CPU Linux system sends the continuous frame to the diagnostic apparatus, the number of transmitted frames may be further increased by 1, and if the number of transmitted frames is less than the total number of frames, the steps of reading the continuous frame from the storage area and the subsequent steps are performed.
It should be understood that, in the case that the continuous frames are not transmitted, the steps 41 to 43 may be continuously read and transmitted, so that each frame of the continuous frames may be ensured to be transmitted.
Preferably, before the data transmission device reads the continuous frame from the storage area, the first CPU Linux system may further recalculate a checksum, and when the checksum satisfies a preset condition, the step of reading the continuous frame from the storage area and the subsequent steps are performed.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic of each process, and should not limit the implementation process of the embodiment of the present application in any way.
Corresponding to the data transmission method shown in fig. 2, fig. 3 shows a data transmission device M100 provided in an embodiment of the present application, where the data transmission device M100 may be built in a data transmission device in a data transmission system, where the data transmission system further includes a data sending device and a data receiving device, where the data transmission device is communicatively connected to the data sending device and the data receiving device, respectively. Specifically, the data transmission device M100 may be built in the first CPU Linux system and the first MCU shown in fig. 1, or may be built in the second CPU Linux system and the second MCU shown in fig. 1, where the data transmission device M100 includes:
A data receiving module M110, configured to receive a first frame and a continuous frame of target data sent by the data sending device;
a data transmission module M120, configured to send the first frame to a data receiving device, and receive a target flow control frame sent by the data receiving device based on the first frame;
a time interval obtaining module M130, configured to parse the target flow control frame, and obtain a minimum time interval of the data receiving device carried in the target flow control frame for receiving data;
and the continuous frame sending module M140 is configured to send the continuous frames to the data receiving device sequentially at the minimum time interval.
Optionally, the continuous frame carries a timestamp when the data transmission device receives the continuous frame from the data transmission device;
the data transmission device further includes:
the time interval judging module is used for judging whether the minimum time interval is carried in the target flow control frame or not;
and the time interval determining module is used for calculating the time difference between the current continuous frame and the last continuous frame according to the time stamps of the current continuous frame and the last continuous frame if the minimum time interval is not carried in the target flow control frame, and taking the time difference as the minimum time interval.
Optionally, the target data is data using a CAN communication protocol, and the data transmission device further includes:
the storage module is used for analyzing the acquired continuous frames, acquiring a CANID carried by each continuous frame, and storing each continuous frame into a storage area corresponding to the CANID;
the data transmission device further includes:
the target identification acquisition module is used for analyzing the target flow control frame and acquiring a target CANID carried by the target flow control frame;
the continuous frame transmitting module includes:
a storage area searching unit, configured to search a storage area corresponding to the target nid according to the target nid;
and the continuous frame sending unit is used for sequentially sending the continuous frames to be sent in the storage area to the data receiving equipment according to the minimum time interval according to the target flow control frame.
Optionally, the continuous frame sending unit includes:
a continuous frame reading subunit for reading the continuous frames from the storage area;
a timestamp updating subunit, configured to update timestamps of the continuous frames according to the minimum time interval and the target cand;
and the continuous frame sending subunit is used for sending the continuous frames to the data receiving equipment according to the updated time stamp.
Optionally, the timestamp updating subunit includes:
the time interval is provided with a micro unit for representing the minimum time interval in a relative time mode, wherein the relative time is the time of the current continuous frame relative to the last continuous frame.
Optionally, the data transmission device further includes:
and the total frame number acquisition module is used for acquiring the total frame number of the continuous frames which are carried in the target flow control frame and need to be transmitted in the flow control.
Optionally, the data transmission device further includes:
the frame number updating module is used for adding 1 to the transmitted frame number;
and the frame number judging module is used for executing the steps that the data transmission equipment reads the continuous frames from the storage area and the follow-up steps if the transmitted frame number is smaller than the total frame number.
It will be appreciated that various implementations and combinations of implementations and advantageous effects thereof in the above embodiments are equally applicable to this embodiment, and will not be described here again.
Fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application. As shown in fig. 4, the electronic device D10 of this embodiment includes: at least one processor D100 (only one is shown in fig. 4), a memory D101 and a computer program D102 stored in the memory D101 and executable on the at least one processor D100, the processor D100 implementing the steps in any of the various method embodiments described above when executing the computer program D102. Alternatively, the processor D100 may perform the functions of the modules/units in the above-described device embodiments, such as the functions of the modules M110 to M140 shown in fig. 3, when executing the computer program D102.
In some embodiments, the processor D100, when executing the computer program D102, implements the following steps:
the data transmission device receives a first frame and a continuous frame of target data sent by the data sending device;
the data transmission equipment sends the first frame to the data receiving equipment and receives a target flow control frame sent by the data receiving equipment based on the first frame;
the data transmission equipment analyzes the target flow control frame and acquires the minimum time interval of the data receiving equipment carried in the target flow control frame for receiving data;
and the data transmission equipment sequentially transmits the continuous frames to the data receiving equipment according to the minimum time interval.
Optionally, the processor D100 executes the computer program D102, the continuous frame carrying a timestamp of when the continuous frame was received by the data transmission device from the data transmission device; after the data transmission device is implemented to parse the target flow control frame, the following steps may be implemented:
the data transmission equipment judges whether the minimum time interval is carried in the target flow control frame;
if the minimum time interval is not carried in the target flow control frame, the data transmission equipment calculates the time difference between the current continuous frame and the last continuous frame according to the time stamps of the current continuous frame and the last continuous frame, and takes the time difference as the minimum time interval.
Optionally, when the processor D100 executes the computer program D102, the target data is data using a CAN communication protocol, before implementing that the data transmission device receives the target flow control frame sent by the data receiving device based on the first frame, the following steps may be further implemented:
the data transmission equipment analyzes the acquired continuous frames, acquires the CANID carried by each continuous frame, and stores each continuous frame into a storage area corresponding to the CANID;
after the data transmission device receives the target flow control frame sent by the data receiving device based on the first frame, the following steps can be further implemented:
the data transmission equipment analyzes the target flow control frame and acquires a target CANID carried by the target flow control frame;
in implementing that the data transmission device sequentially transmits the continuous frames to the data receiving device according to the minimum time interval, the following steps may be implemented:
the data transmission equipment searches a storage area corresponding to the target CANID according to the target CANID;
and the data transmission equipment sequentially transmits the continuous frames to be transmitted in the storage area to the data receiving equipment according to the minimum time interval according to the target flow control frame.
Optionally, when the processor D100 executes the computer program D102 to implement that the data transmission device sequentially sends the continuous frames to be sent in the storage area to the data receiving device according to the target flow control frame at the minimum time interval, the following steps may be implemented:
the data transmission device reads the continuous frames from the storage area;
the data transmission equipment updates the time stamp of the continuous frame according to the minimum time interval and the target CANID;
and the data transmission equipment sends the continuous frames to the data receiving equipment according to the updated time stamp.
Optionally, when the processor D100 executes the computer program D102 to implement the data transmission device to update the time stamp of the continuous frame according to the minimum time interval and the target cand, the following steps may be implemented:
the minimum time interval is represented by means of a relative time, which is the time of the current continuous frame relative to the last continuous frame.
Optionally, after the processor D100 executes the computer program D102 to implement the data transmission device to parse the target flow control frame, the following steps may be implemented:
And the data transmission equipment acquires the total frame number of the continuous frames to be transmitted of the current flow control carried in the target flow control frame.
Optionally, after the processor D100 executes the computer program D102 to implement the data transmission device to send the continuous frame to the data receiving device, the following steps may be implemented:
adding 1 to the number of transmitted frames;
and if the transmitted frame number is smaller than the total frame number, executing the steps that the data transmission equipment reads the continuous frames from the storage area and the follow-up steps.
The electronic device D10 may be a computing device such as a desktop computer, a notebook computer, a palm computer, a cloud server, etc. The electronic device may include, but is not limited to, a processor D100, a memory D101. It will be appreciated by those skilled in the art that fig. 4 is merely an example of the electronic device D10 and is not meant to be limiting of the electronic device D10, and may include more or fewer components than shown, or may combine certain components, or different components, such as may also include input-output devices, network access devices, etc.
The processor D100 may be a central processing unit (Central Processing Unit, CPU), the processor D100 may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory D101 may in some embodiments be an internal storage unit of the electronic device D10, such as a hard disk or a memory of the electronic device D10. The memory D101 may also be an external storage device of the electronic device D10 in other embodiments, for example, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card) or the like, which are provided on the electronic device D10. Further, the memory D101 may also include both an internal storage unit and an external storage device of the electronic device D10. The memory D101 is used for storing an operating system, an application program, a boot loader (BootLoader), data, other programs, etc., such as program codes of the computer program. The memory D101 may also be used to temporarily store data that has been output or is to be output.
It should be noted that, because the content of information interaction and execution process between the above devices/units is based on the same concept as the method embodiment of the present application, specific functions and technical effects thereof may be referred to in the method embodiment section, and will not be described herein again.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
Embodiments of the present application also provide a computer readable storage medium storing a computer program, which when executed by a processor, may implement the steps in the above-described method embodiments.
Embodiments of the present application provide a computer program product which, when run on an electronic device, causes the electronic device to perform the steps of the method embodiments described above.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application implements all or part of the flow of the method of the above embodiments, and may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, where the computer program, when executed by a processor, may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a photographing device/terminal apparatus, recording medium, computer Memory, read-Only Memory (ROM), random access Memory (Random Access Memory, RAM), electrical carrier signals, telecommunications signals, and software distribution media. Such as a U-disk, removable hard disk, magnetic or optical disk, etc. The computer readable medium may not be an electrical carrier signal or a telecommunications signal.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/network device and method may be implemented in other manners. For example, the apparatus/network device embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical functional division, and there may be additional divisions in actual implementation, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.
The units described as separate units may or may not be physically separate, and units shown 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 units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
The above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.

Claims (9)

1. A data transmission method, wherein the method is applied to a data transmission device in a data transmission system, the data transmission system further comprises a data sending device and a data receiving device, and the data transmission device is respectively in communication connection with the data sending device and the data receiving device, and the method comprises the following steps:
The data transmission device receives a first frame and a continuous frame of target data sent by the data sending device;
the data transmission equipment sends the first frame to the data receiving equipment and receives a target flow control frame sent by the data receiving equipment based on the first frame;
the data transmission equipment analyzes the target flow control frame and acquires the minimum time interval of the data receiving equipment carried in the target flow control frame for receiving data;
the data transmission equipment sequentially transmits the continuous frames to the data receiving equipment according to the minimum time interval;
the target data is data using a CAN communication protocol, and before the data transmission device receives a target flow control frame sent by the data receiving device based on the first frame, the method further includes: the data transmission equipment analyzes the acquired continuous frames, acquires the CANID carried by each continuous frame, and stores each continuous frame into a storage area corresponding to the CANID;
after the data transmission device receives the target flow control frame sent by the data receiving device based on the first frame, the method further comprises the following steps: the data transmission equipment analyzes the target flow control frame and acquires a target CANID carried by the target flow control frame;
The data transmission device sends the continuous frames to the data receiving device in turn according to the minimum time interval, and the method comprises the following steps: the data transmission equipment searches a storage area corresponding to the target CANID according to the target CANID; and the data transmission equipment sequentially transmits the continuous frames to be transmitted in the storage area to the data receiving equipment according to the minimum time interval according to the target flow control frame.
2. The data transmission method according to claim 1, wherein the continuous frame carries a time stamp at the time the data transmission apparatus receives the continuous frame from the data transmission apparatus; after the data transmission device parses the target flow control frame, the method further includes:
the data transmission equipment judges whether the minimum time interval is carried in the target flow control frame;
if the minimum time interval is not carried in the target flow control frame, the data transmission equipment calculates the time difference between the current continuous frame and the last continuous frame according to the time stamps of the current continuous frame and the last continuous frame, and takes the time difference as the minimum time interval.
3. The data transmission method according to claim 1, wherein the data transmission device sequentially transmits consecutive frames to be transmitted in the memory area to the data reception device at the minimum time interval in accordance with the target flow control frame, comprising:
The data transmission device reads the continuous frames from the storage area;
the data transmission equipment updates the time stamp of the continuous frame according to the minimum time interval and the target CANID;
and the data transmission equipment sends the continuous frames to the data receiving equipment according to the updated time stamp.
4. The data transmission method of claim 3, wherein the data transmission device updating the time stamp of the consecutive frames according to the minimum time interval and the target cand, comprising:
the minimum time interval is represented by means of a relative time, which is the time of the current continuous frame relative to the last continuous frame.
5. The data transmission method of claim 3, further comprising, after the data transmission device parses the target flow control frame:
and the data transmission equipment acquires the total frame number of the continuous frames to be transmitted of the current flow control carried in the target flow control frame.
6. The data transmission method according to claim 5, further comprising, after the data transmission device transmits the continuous frame to the data reception device:
adding 1 to the number of transmitted frames;
And if the transmitted frame number is smaller than the total frame number, executing the steps that the data transmission equipment reads the continuous frames from the storage area and the follow-up steps.
7. A data transmission device, characterized in that the data transmission device is built in a data transmission device in a data transmission system, the data transmission system further comprises a data sending device and a data receiving device, wherein the data transmission device is respectively in communication connection with the data sending device and the data receiving device, and the data transmission device comprises:
the data receiving module is used for receiving the first frame and the continuous frame of the target data sent by the data sending equipment;
the data transmission module is used for transmitting the first frame to data receiving equipment and receiving a target flow control frame transmitted by the data receiving equipment based on the first frame;
the time interval acquisition module is used for analyzing the target flow control frame and acquiring the minimum time interval of the data receiving equipment carried in the target flow control frame for receiving data;
a continuous frame sending module, configured to send the continuous frames to the data receiving device sequentially according to the minimum time interval;
the target data is data using a CAN communication protocol, and the data transmission device further includes:
The storage module is used for analyzing the acquired continuous frames, acquiring a CANID carried by each continuous frame, and storing each continuous frame into a storage area corresponding to the CANID;
the data transmission device further includes:
the target identification acquisition module is used for analyzing the target flow control frame and acquiring a target CANID carried by the target flow control frame;
the continuous frame transmitting module includes:
a storage area searching unit, configured to search a storage area corresponding to the target nid according to the target nid;
and the continuous frame sending unit is used for sequentially sending the continuous frames to be sent in the storage area to the data receiving equipment according to the minimum time interval according to the target flow control frame.
8. An electronic device comprising a memory, a processor and a computer program stored in the memory and capable of running on the processor, characterized in that the processor implements the data transmission method according to any one of claims 1 to 6 when executing the computer program.
9. A computer-readable storage medium storing a computer program, characterized in that the computer program, when executed by a processor, implements the data transmission method according to any one of claims 1 to 6.
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