CN114826816B - CAN FD bus communication method and device and electronic equipment - Google Patents

CAN FD bus communication method and device and electronic equipment Download PDF

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CN114826816B
CN114826816B CN202210453944.9A CN202210453944A CN114826816B CN 114826816 B CN114826816 B CN 114826816B CN 202210453944 A CN202210453944 A CN 202210453944A CN 114826816 B CN114826816 B CN 114826816B
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period
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CN114826816A (en
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刘大鹏
马晓川
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Institute of Acoustics CAS
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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
    • H04L12/40013—Details regarding a bus controller
    • 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
    • H04L12/40156—Bus networks involving priority mechanisms by using dedicated slots associated with a priority level
    • 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
    • H04L12/40195—Flexible bus arrangements involving redundancy by using a plurality of nodes
    • 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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Abstract

The application discloses a CAN FD bus communication method, a device and an electronic device, wherein the method comprises the following steps: receiving a data frame, wherein the frame structure of the data frame comprises a frame ID, and the frame ID comprises a direction bit section, a period identification bit section, a slave node address bit section and an instruction/time slot bit section; determining the type of the data frame according to the frame ID; if the frame is a basic control instruction frame, determining the response period of the basic response frame according to the value S of the period identification bit section in the frame ID of the basic response frame; and determining to send the basic response frame to the main node at the response time in the response period according to a first remainder obtained by calculating the remainder of the response period by the value of the instruction/time slot bit segment in the frame ID of the basic response frame and a second remainder obtained by calculating the remainder of the response period corresponding to the timestamp of the currently received basic control instruction frame, so as to balance the use of communication bandwidth and reduce the design complexity of a control system. The response time is the time stamp of the currently received basic control instruction frame.

Description

CAN FD bus communication method and device and electronic equipment
Technical Field
The present invention relates to the field of controller Area Network (CAN FD) technology with variable Data rate. In particular, to a CAN FD bus communication method and apparatus, and an electronic device.
Background
The CAN FD bus was standardized in 2015. Compared with the traditional CAN2.0, the CAN FD bus frame format allows the data rate higher than 1Mbps to be realized in the data field, the byte number of the data field is increased from 8 bytes to 64 bytes, the communication efficiency is greatly improved due to the increase of the number of effective communication bytes, and the system design CAN be simplified by avoiding or reducing data splitting.
However, an application layer communication method is not defined in the CAN FD bus, and in a system using the CAN FD bus, an application layer protocol must be designed, and how to design the protocol is required. Particularly, in a system with multiple types of sensors, the data refreshing speeds of the sensors are different, and the situation that the amount of transmitted data is large at some times and small at some times may occur, so that the communication bandwidth cannot be used in a balanced manner, and the complexity of the system design is high.
Disclosure of Invention
Because the existing method has the problems, a flexible protocol needs to be designed to adapt to different data refreshing speeds of various sensors so as to balance the use of communication bandwidth and reduce the design complexity of a control system. The application provides a CAN FD bus communication method and device and electronic equipment.
In a first aspect, the present application provides a CAN FD bus communication method, including:
receiving a data frame, wherein the frame structure of the data frame comprises a frame ID, and the frame ID comprises a direction bit section, a period identification bit section, a slave node address bit section and an instruction/time slot bit section;
determining the type of the data frame according to the frame ID, wherein the type of the data frame comprises a basic control instruction frame or a basic response frame, and the basic response frame is a data frame sent by a slave node in response to the basic control instruction frame;
if the type of the data frame is the basic control instruction frame, determining that a sender of the data frame is a main node, and determining a response period of the basic response frame according to a value S of a period identification bit section in a frame ID of the basic response frame; determining to send the basic response frame to the master node at a response time in the response period according to a first remainder obtained by calculating a remainder for the response period according to a value of an instruction/time slot bit segment in a frame ID of the basic response frame and a second remainder obtained by calculating a remainder for the response period according to a timestamp of the currently received basic control instruction frame, wherein the response time is the timestamp of the currently received basic control instruction frame;
and if the type of the data frame is the basic response frame, determining that the sender of the data frame is the slave node.
In one possible implementation, the type of the data frame further includes: an emergency instruction frame, an emergency response frame, a single-node instruction frame or a single-node response frame;
the method further comprises the following steps:
if the type of the data frame is the emergency instruction frame or the single-node instruction frame, determining that the data frame is from the master node, and respectively sending the emergency response frame or the single-node response frame responding to the data frame from the slave node to the master node;
and if the type of the data frame is the emergency response frame or the single-node response frame, determining that the data frame is from the slave node.
In one possible implementation, a value of 0 for the direction bit segment indicates that the sender of the data frame is a master node; the value of the direction bit segment is 1, which indicates that the sender of the data frame is a slave node;
the bit number of the period identification bit segment is P bits, P is an integer greater than or equal to 2, the value of the period identification bit segment is R, R is an integer, and R is greater than or equal to 0 and less than or equal to 2 P -1；
The bit number of the slave node address bit segment is N bits, and N is an integer greater than or equal to 1 and represents the slave node address; when the sender of the data frame is a master node, the slave node address bit field represents a destination address, wherein the value of the slave node address bit field is 0, and the slave node address bit field represents that a broadcast address is used by the master node; when the sender of the data frame is a slave node, the address bit field of the slave node represents a source address;
the bit number of the instruction/time slot bit segment is T bits, and T is an integer greater than or equal to 1; when the sender of the data frame is a main node, the instruction/time slot bit segment represents the type of the data frame sent by the main node; when the sender of the data frame is a slave node, the instruction/time slot bit segment represents the time slot number allocated to the slave node.
In one possible implementation, the determining the type of the data frame according to the frame ID includes:
if the value of the direction bit segment is 0 and the value R of the period identification bit segment is 0, determining that the type of the data frame is an emergency instruction frame;
if the value of the direction bit segment is 1 and the value R of the period identification bit segment is 0, determining that the type of the data frame is an emergency response frame;
if the value R of the period identification bit segment is 2 P -1, determining that the type of the data frame is an aperiodic normal communication frame, wherein the aperiodic normal communication frame comprises a single-node instruction frame and a single-node response frame;
if the value of the direction bit segment is 0, the value R of the period identification bit segment is 1, the value of the slave node address bit segment is 0, and the value of the instruction/time slot bit segment is 1, determining that the type of the data frame is a basic control instruction frame;
if the value of the direction bit segment is 1 and the value of the period identification bit segment R is Q, Q is an integer, and Q is more than 0 and less than 2 P And 1, determining that the type of the data frame is a basic response frame, wherein the value Q of the period identification bit segment represents a period packet number after the slave nodes are subjected to period grouping according to the data refreshing speed of the slave nodes.
In one possible implementation, the frame structure of the data frame further comprises a data segment data structure;
the data segment data structure in the frame structure of the basic control instruction frame comprises a timestamp and a period control parameter, the timestamp occupies a first preset value byte, the period control parameter occupies a second preset value M byte, the first preset value byte is followed by the period control parameter, and M =2 P -2, the control parameter occupies one byte per cycle.
In a possible implementation, the determining a response period of the basic response frame according to a value S of a period identification bit segment in a frame ID of the basic response frame includes:
and determining that the value of the S-th period control parameter in the data segment data structure of the basic control instruction responded by the slave node is the response period of the basic response frame according to the value S of the period identification bit segment in the frame ID of the basic response frame, wherein S is an integer and is more than or equal to 1 and less than or equal to M.
In one possible implementation, the determining, according to a first remainder obtained by performing remainder calculation on the response period according to a value of an instruction/slot bit segment in a frame ID of the basic response frame and a second remainder obtained by performing remainder calculation on the response period according to a timestamp of the currently received basic control instruction, that the basic response frame is sent to the master node at a response time in the response period includes:
and if a first remainder obtained by calculating a remainder for the response period by the value of the instruction/time slot bit segment in the frame ID of the basic response frame is equal to a second remainder obtained by calculating a remainder for the response period by the timestamp of the currently received basic control instruction, determining to transmit the basic response frame to the master node at the response time in the response period.
In a second aspect, the present application provides a CAN FD bus communication apparatus, comprising:
the receiving and sending unit is used for receiving a data frame, the frame structure of the data frame comprises a frame ID, and the frame ID comprises a direction bit section, a period identification bit section, a slave node address bit section and an instruction/time slot bit section;
the processing unit is used for determining the type of the data frame according to the frame ID, wherein the type of the data frame comprises a basic control instruction frame or a basic response frame, and the basic response frame is a data frame sent by a slave node in response to the basic control instruction frame;
the processing unit is further configured to determine that a sender of the data frame is a master node if the type of the data frame is the basic control instruction frame, and determine a response period of the basic response frame according to a value S of a period identification bit segment in a frame ID of the basic response frame; determining to send the basic response frame to the master node at a response time in the response period according to a first remainder obtained by calculating a remainder for the response period according to a value of an instruction/time slot bit segment in a frame ID of the basic response frame and a second remainder obtained by calculating a remainder for the response period according to a timestamp of the currently received basic control instruction frame, wherein the response time is the timestamp of the currently received basic control instruction frame; or
The processing unit is further configured to determine that a sender of the data frame is the slave node if the type of the data frame is the basic response frame.
In a third aspect, the present application also proposes an electronic device, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, which when executed, causes the electronic device to perform the steps as in the first aspect and in various possible implementations.
In a fourth aspect, the present application also proposes a non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps as in the first aspect and the various possible implementations.
According to the technical scheme, the slave nodes are grouped periodically according to the data refreshing speed of the slave nodes, so that the slave nodes with different data refreshing speeds respond in different response periods, a first remainder obtained by calculating the remainder of the response period according to the value of the command/time slot bit segment in the frame ID of the basic response frame is equal to a second remainder obtained by calculating the remainder of the response period according to the timestamp of the currently received basic control command, and the basic response frame is determined to be sent to the master node at the response time in the response period. By response period control and time slot (response time) control, the effect of balanced use of system bandwidth is achieved, the system bandwidth is effectively utilized, and the design complexity of a control system is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic flowchart of a CAN FD bus communication method according to an embodiment of the present disclosure;
fig. 2 is a schematic diagram illustrating a master node sending a basic control instruction frame to F slave nodes according to an embodiment of the present application;
fig. 3 is a schematic diagram illustrating that F slave nodes send basic response frames to a master node according to an embodiment of the present application;
fig. 4 is a schematic diagram illustrating that a master node sends a single-node instruction frame to a designated slave node F according to an embodiment of the present application;
fig. 5 is a schematic diagram illustrating a designated slave node F sending a single-node response frame to a master node according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of a CAN FD bus communication device according to an embodiment of the present disclosure.
Detailed Description
The technical solutions in the embodiments of the present invention will be described below with reference to the drawings in the embodiments of the present invention. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
It should be noted that the term "and/or" in this application is only one kind of association relationship describing the associated object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. The terms "first" and "second," and the like, in the description and in the claims of the embodiments of the present application are used for distinguishing between different objects and not for describing a particular order of the objects. For example, the first preset value, the second preset value, and the like are used to distinguish different preset values, not to describe a specific order of the target objects. In the embodiments of the present application, words such as "exemplary," "for example," or "such as" are used to mean serving as examples, illustrations, or illustrations. Any embodiment or design described herein as "exemplary," "for example," or "such as" is not necessarily to be construed as advantageous over other embodiments or designs. Rather, use of the word "exemplary" or "such as" is intended to present concepts related in a concrete fashion. In the description of the embodiments of the present application, the meaning of "a plurality" means two or more unless otherwise specified.
In a possible implementation, in a system with multiple types of sensors, the data refresh rates of the sensors are different, and a situation that the amount of data transmitted at some times is large and the amount of data transmitted at some times is small may occur, so that the communication bandwidth cannot be used in a balanced manner, and the complexity of the system design is high.
In order to solve the above technical problem, an embodiment of the present application provides a CAN FD bus communication method, in which basic response frames sent from a slave node in response to a basic control command frame are grouped periodically according to a data refresh rate of the slave node. The periodic packet is embodied in the frame ID of the basic response frame. And realizes periodic communication control and time slot allocation through a pulsating basic control instruction frame of the main node. In the CAN FD bus system, a control master node (master node for short) and several controlled slave nodes (slave nodes for short) are provided. Fig. 1 shows a flow diagram of the CAN FD bus communication method, where the flow diagram includes: S101-S104, specifically comprising:
s101, receiving a data frame.
In the embodiment of the present application, the slave node may receive the data frame from the master node, or the master node may receive the data frame from the slave node.
S102, determining the type of the data frame according to the frame ID.
In this embodiment of the present application, the frame structure of the data frame received in the foregoing S101 includes a frame ID, and the frame ID includes a direction bit segment, a cycle identification bit segment, a slave node address bit segment, and an instruction/slot bit segment. A value of 0 in the direction bit field indicates that the sender of the data frame is the master node. A value of 1 for the direction bit field indicates that the sender of the data frame is a slave node. The bit number of the period identification bit segment is P bits, P is an integer greater than or equal to 2, the value of the period identification bit segment is R, R is an integer, and R is greater than or equal to 0 and less than or equal to 2 P -1. The bit number of the slave node address bit segment is N bits, and N is an integer greater than or equal to 1 and represents the slave node address. When the sender of the data frame is the master node, the slave node address bit field indicates the destination address, wherein the value of the slave node address bit field is 0, and the master node uses the broadcast address. When the sender of the data frame is a slave node, the slave node address bit field represents the source address. The number of bits of the instruction/slot bit segment is T bits, and T is an integer greater than or equal to 1. When the sender of the data frame is the main node, the instruction/time slot bit section indicates the type of the data frame sent by the main node. When the sender of the data frame is a slave node, the command/slot bit field indicates the slot number assigned to the slave node.
For example, if the value of the direction bit field is 0, the value of the slave node address bit field is 0, indicating a broadcast address, and the value R of the period identification bit field is 0, it is determined that the type of the data frame is an emergency command frame sent by the master node to the slave node, and at this time, the slave node sends an emergency response frame responding thereto to the master node. If the value of the direction bit segment is 0, the value of the slave node address bit segment is 0, which represents the broadcast address, and the period identification bit segmentWhen the value R of (1) and the value of the command/slot bit field is 1, it is determined that the type of the data frame is a basic control command frame sent from the master node to the slave node, and at this time, the slave node sends a basic response frame responding to the basic control command frame to the master node. Fig. 2 is a schematic diagram of the master node sending a basic control instruction frame to F slave nodes, fig. 3 is a schematic diagram of the F slave nodes sending a basic response frame to the master node in response to the basic control instruction frame, and F is an integer greater than or equal to 1. If the value of the direction bit segment is 1 and the value of the period identification bit segment R is Q, Q is an integer, and Q is more than 0 and less than 2 P And 1, determining that the type of the data frame is a basic response frame, wherein the data acquisition of the master node is successful, and the value Q of the period identification bit section represents a period grouping number after the slave nodes are subjected to period grouping according to the data refreshing speed of the slave nodes. And if the value of the direction bit section is 1 and the value R of the period identification bit section is 0, determining that the type of the data frame is an emergency response frame sent from the slave node to the master node, and at the moment, successfully acquiring the data of the master node. If the value R of the period identification bit segment is 2 P And 1, determining the type of the data frame as an aperiodic normal communication frame, wherein the aperiodic normal communication frame comprises a single node command frame and a single node response frame. If the type of the data frame is a single-node command frame which is not sent to the designated slave node by the master node regularly, the value of the direction bit field is 0, and a non-broadcast address is used, at this time, the slave node sends a single-node response frame responding to the single-node command frame to the master node. Illustratively, the master node does not periodically transmit a single-node instruction frame to the designated slave node F, as shown in fig. 4, at which time the slave node F transmits a single-node response frame to the master node, as shown in fig. 5. If the type of the data frame is a single-node response frame sent from the slave node to the master node, the value of the direction bit field is 1. And after receiving the single-node response frame, the main node indicates that the data acquisition is successful.
S103, if the type of the data frame is a basic control instruction frame, determining that a sender of the data frame is a main node, and determining a response period of a basic response frame sent by a slave node in response to the basic control instruction frame according to a value S of a period identification bit field in a frame ID of the basic response frame; and determining a basic response frame responding to the basic control instruction frame to be sent to the main node at the response time in the response period according to a first remainder obtained by calculating the remainder of the response period by the value of the instruction/time slot bit segment in the frame ID of the basic response frame and a second remainder obtained by calculating the remainder of the response period corresponding to the timestamp of the currently received basic control instruction frame.
In an embodiment of the present application, the frame structure of the data frame further includes a data segment data structure. The master node needs to periodically send a basic control instruction frame and serves as a ripple control signal of the whole CAN FD bus system. The sending period of the basic control instruction frame is the minimum control period and the data acquisition period of the CAN FD bus system. The data segment data structure in the frame structure of the basic control instruction frame comprises a time stamp and a period control parameter, wherein the time stamp occupies a first preset value byte and is used as a reference datum for time slot allocation. The count value of the time stamp of the CAN FD bus system is incremented by 1 each time the master node sends a basic control instruction frame. The period control parameter occupies a second preset value M bytes, and immediately follows the first preset value M bytes, wherein M =2 P -2, the control parameter occupies one byte per cycle. It will be appreciated that several bytes after the cycle control parameter may be used for transmission of other control parameters of the CAN FD bus system.
In the embodiment of the present application, specifically, the response time of the slave node is determined by the following method:
firstly, according to the value S of a period identification bit field in the frame ID of a basic response frame, determining that the value of the S-th period control parameter in the data field data structure of a basic control instruction responded by a slave node is the response period of the basic response frame, wherein S is an integer and is more than or equal to 1 and less than or equal to M. And if a first remainder obtained by calculating the remainder of the response period by the value of the instruction/time slot bit segment in the frame ID of the basic response frame is equal to a second remainder obtained by calculating the remainder of the response period corresponding to the timestamp of the currently received basic control instruction, determining that the response time is the timestamp of the currently received basic control instruction frame, and transmitting the basic response frame to the master node by the slave node at the response time in the response period.
And S104, if the type of the data frame is the basic response frame, determining that the sender of the data frame is the slave node.
In the embodiment of the present application, if the type of the data frame is the basic acknowledgement frame, it is determined that the sender of the data frame is the slave node. And after receiving the data frame, the main node indicates that the data acquisition is successful.
The method and the device have the advantages that the slave nodes are grouped periodically according to the data refreshing speed of the slave nodes, so that the slave nodes with different data refreshing speeds respond in different response periods, in addition, the first remainder obtained by calculating the remainder of the response period according to the value of the command/time slot bit segment in the frame ID of the basic response frame is equal to the second remainder obtained by calculating the remainder of the response period according to the timestamp of the currently received basic control command, and the basic response frame is determined to be sent to the master node at the response time in the response period. By response period control and time slot (response time) control, the effect of balanced use of system bandwidth is achieved, the system bandwidth is effectively utilized, and the design complexity of a control system is reduced.
The above CAN FD bus communication method is described in detail by detailed description of frame structure and embodiments.
In specific implementation, the design of the CAN FD bus protocol is realized by the design of a frame ID in a frame structure and the design of a data field data structure together, and the frame ID structure is designed by referring to the characteristic that the smaller the value of the frame ID in the CAN bus is, the higher the sending priority is.
In one specific example, an 11-bit standard frame ID is used, and the frame ID structure is shown in table 1.
Table 1 frame ID structure
Direction position section Periodic identification bit segment Slave node address bit field Instruction/slot bit segment
1 bit P =2 position N =4 bits T =4 bit
Illustratively, as shown in table 1, the direction bit segment is 1 bit, the cycle identification bit segment is 2 bits, the slave node address bit segment is 4 bits, and the command/slot bit segment is 4 bits.
For example, a master node in a CAN FD bus system must periodically send a basic control command frame to a slave node. According to the design requirement of the frame ID, if the basic control instruction frame is sent by the master node, the direction bit is 0x0, the specified period identification bit field is 0x1, the broadcast address selected from the node address bit field is 0x0, and the specified instruction bit field is 0x1, so that the frame ID of the basic control instruction frame is 0x101, and since the bit P =2 of the period identification bit field, the period control parameter M =2 in the data field data structure of the basic control instruction frame P 2=2 bytes, the data section data structure of the basic control instruction frame can be as shown in table 2.
Table 2 data segment data structure of basic control instruction frame
Figure BDA0003619928620000061
In one specific example, the system includes 1 master node and 4 slave nodes. And the sending period of the basic control instruction frame of the master node is 10 milliseconds, and the time stamp is increased by 1 every 10 milliseconds, namely the master node can carry out system control and data acquisition by taking 10 milliseconds as a period at minimum.
The slave node 1 has one kind of functional data, the data refreshing speed is about 2 basic control instruction frame periods (namely 20 milliseconds), the slave node 2 has two kinds of functional data, the data refreshing speed of the function 1 is about 4 basic control instruction frame periods (namely 40 milliseconds), the data of the function 2 is updated irregularly, and the master node is required to send a single-node instruction frame to activate one-time data acquisition; the slave node 3 has two kinds of functional data, the function 1 data refresh rate is about 2 basic control instruction frame periods (i.e., 20 msec), the function 2 data refresh rate is about 4 basic control instruction frame periods (i.e., 40 msec), and the slave node 4 has one kind of functional data, the data refresh rate is about 4 basic control instruction frame periods (i.e., 40 msec). According to the above data refresh rate of the slave node, the value of the period control parameter 1 may be set to 2, and the value of the period control parameter 2 may be set to 4.
According to the above system feature, the frame ID used to transmit the function data from the node 1 may be set to 0x511, the frame ID used to transmit the function 1 data from the node 2 may be set to 0x621, the frame ID used to transmit the function 2 data from the node 2 may be set to 0x721, the frame ID used to transmit the function 1 data from the node 3 may be set to 0x532, the frame ID used to transmit the function 2 data from the node 3 may be set to 0x632, and the frame ID used to transmit the function data from the node 4 may be set to 0x643.
The effects which can be realized by the above setting are as follows:
the frame ID is 0x511 of the slave node 1 functional data frame, the cycle packet number is 0x1, and the time slot bit 0x1 takes the remainder result of the cycle control parameter 1 (the parameter value is 2) as 1. Since the value of the timestamp of every 2 consecutive basic control instruction frames takes the remainder result of 2 and only takes 1 to appear once, so that the remainder results are the same, the basic response frame is transmitted from the node 1 every 20 milliseconds. Similarly, the slave node 3 function 1 data with frame ID 0x532 and period packet number 0x1 sends 1 time basic response frame every 2 consecutive basic control command frames, and since the slot bit of 0x511 is 0x1 and the slot bit of 0x532 is 0x2, the result of taking the remainder of the period control parameter 1 is always different in any slot, and the responses of the two are staggered in the response period of 20 ms, thereby achieving the effect of equalizing the use of the system bandwidth.
The slave node 2 function data frame with the frame ID of 0x621, the slave node 3 function 2 data frame with the frame ID of 0x632, and the slave node 4 function data frame with the frame ID of 0x643 have the value of 0x2 of the common period identification bit segment, so the response periods thereof are controlled by the period control parameter 2 (the parameter value is 4), 1 time basic response is performed for every 4 basic control instruction frames, and the slot bits of the three frames are respectively 0x1,0x 2, and 0x3, and the remainder results of 4 are always different, so the three frames do not respond to the basic control instruction frame in the same slot, thereby achieving the effect of balanced use of the system bandwidth.
The master node may send a single-node instruction frame to the slave node 2 using a frame ID of 0x321, where a value of the direction bit segment is 0x0, a value of the period identification bit segment is 0x3 (i.e., 2^2-1), a value of the slave node address bit segment is 0x2, and a value of the instruction bit segment is 0x1; the slave node 2 can immediately transmit a single node response frame to the master node using a frame ID of 0x 721.
The master node may broadcast an emergency instruction frame to all slave nodes using a frame ID of 0x001, indicating a system failure, and each slave node performs emergency processing.
In a specific example, if the value of the cycle control parameter 1 is 1, the value of the slot bit field of all the slave nodes belonging to the cycle group 1 is always 0 for the remainder of 1, and the timestamp in the data field data structure of the basic control instruction frame is also always 0 for the remainder of 1, so that the slave node belonging to the cycle group 1 responds to each basic control instruction in this case.
Through the protocol design, a system with complex multi-cycle control and data acquisition characteristics can be well designed, the bus bandwidth is effectively utilized, a single-node instruction frame is sent to a designated slave node through a master node, only the designated slave node can respond to the single-node instruction frame and respond to the master node, and the purposes of hardware receiving and filtering design of slave node addresses and software design complexity reduction are achieved. Particularly, in the actual operation process of the system, if necessary, the value of the period control parameter in the basic control instruction frame can be dynamically adjusted, so that the dynamic adjustment of the sampling period of the function data of the slave node is realized, and the method is flexible and convenient.
Fig. 6 is a schematic structural diagram of a CAN FD bus communication apparatus according to an embodiment of the present disclosure, where the schematic structural diagram includes a transceiver 601 and a processing unit 602;
the transceiver 601 is configured to receive a data frame, where a frame structure of the data frame includes a frame ID, and the frame ID includes a direction bit segment, a period identification bit segment, a slave node address bit segment, and an instruction/time slot bit segment;
the processing unit 602 is configured to determine the type of the data frame according to the frame ID, where the type of the data frame includes a basic control instruction frame or a basic response frame, and the basic response frame is a data frame sent by a slave node in response to the basic control instruction frame;
the processing unit 602 is further configured to determine that a sender of the data frame is a master node if the type of the data frame is the basic control instruction frame, and determine a response period of the basic response frame according to a value S of a period identification bit segment in a frame ID of the basic response frame; determining to send the basic response frame to the master node at a response time in the response period according to a first remainder obtained by calculating a remainder for the response period according to a value of an instruction/time slot bit segment in a frame ID of the basic response frame and a second remainder obtained by calculating a remainder for the response period according to a timestamp of the currently received basic control instruction frame, wherein the response time is the timestamp of the currently received basic control instruction frame; or
The processing unit 602 is further configured to determine that a sender of the data frame is the slave node if the type of the data frame is the basic response frame.
In one possible implementation, the type of the data frame further includes: an emergency instruction frame, an emergency response frame, a single-node instruction frame or a single-node response frame;
the processing unit 602 is further configured to determine that the data frame is from the master node if the type of the data frame is the emergency instruction frame or the single-node instruction frame, and the slave node sends the emergency response frame or the single-node response frame, which responds thereto, to the master node respectively; and if the type of the data frame is the emergency response frame or the single-node response frame, determining that the data frame is from the slave node.
In one possible implementation, a value of 0 for the direction bit segment indicates that the sender of the data frame is a master node; the value of the direction bit segment is 1, which indicates that the sender of the data frame is a slave node;
the bit number of the period identification bit segment is P bits, P is an integer greater than or equal to 2, the value of the period identification bit segment is R, R is an integer, and R is greater than or equal to 0 and less than or equal to 2 P -1；
The bit number of the slave node address bit segment is N bits, and N is an integer greater than or equal to 1 and represents the slave node address; when the sender of the data frame is a master node, the slave node address bit field represents a destination address, wherein the value of the slave node address bit field is 0, and the slave node address bit field represents that a broadcast address is used by the master node; when the sender of the data frame is a slave node, the address bit field of the slave node represents a source address;
the bit number of the instruction/time slot bit segment is T bits, and T is an integer greater than or equal to 1; when the sender of the data frame is a main node, the instruction/time slot bit segment represents the type of the data frame sent by the main node; when the sender of the data frame is a slave node, the instruction/time slot bit segment represents the time slot number allocated to the slave node.
In a possible implementation, the processing unit 602 is specifically configured to determine that the type of the data frame is an emergency instruction frame if the value of the direction bit segment is 0 and the value R of the period identification bit segment is 0; if the value of the direction bit segment is 1 and the value R of the period identification bit segment is 0, determining that the type of the data frame is an emergency response frame; if the value R of the period identification bit segment is 2 P -1, determining that the type of the data frame is an aperiodic normal communication frame, wherein the aperiodic normal communication frame comprises a single-node instruction frame and a single-node response frame; if the value of the direction bit segment is 0, the value R of the period identification bit segment is 1, the value of the slave node address bit segment is 0, and the value of the instruction/time slot bit segment is 1, determining that the type of the data frame is a basic control instruction frame; if the value of the direction bit segment is 1 and the value of the period identification bit segment R is Q, Q is an integer, and Q is more than 0 and less than 2 P -1, determining the type of the data frame as a basic response frame, wherein the value Q of the period identification bit segment represents a period packet number after the period packet is performed on the slave node according to the data refresh rate of the slave node。
In one possible implementation, the frame structure of the data frame further comprises a data segment data structure; in the frame structure of the basic control instruction frame, the data segment data structure comprises a timestamp and a period control parameter, the timestamp occupies a first preset value byte, the period control parameter occupies a second preset value M byte, the first preset value byte is followed by the period control parameter, and M =2 P -2, the control parameter occupies one byte per cycle.
In a possible implementation, the processing unit 602 is specifically configured to determine, according to a value S of a period identification bit field in a frame ID of the basic response frame, that a value of an S-th period control parameter in a data segment data structure of the basic control instruction to which the slave node responds is a response period of the basic response frame, where S is an integer and is greater than or equal to 1 and less than or equal to M.
In a possible implementation, the processing unit 602 is specifically configured to determine that the basic response frame is sent to the master node at a response time in the response period if a first remainder obtained by performing remainder calculation on the response period by using a value of an instruction/slot bit segment in a frame ID of the basic response frame is equal to a second remainder obtained by performing remainder calculation on the response period by using a timestamp of the currently received basic control instruction.
An embodiment of the present application provides an electronic device, including a memory, a processor, and a computer program stored on the memory and capable of running on the processor, where the processor executes the program, and implements the following steps:
receiving a data frame, wherein the frame structure of the data frame comprises a frame ID, and the frame ID comprises a direction bit section, a period identification bit section, a slave node address bit section and an instruction/time slot bit section;
determining the type of the data frame according to the frame ID, wherein the type of the data frame comprises a basic control instruction frame or a basic response frame, and the basic response frame is a data frame sent by a slave node in response to the basic control instruction frame;
if the type of the data frame is the basic control instruction frame, determining that a sender of the data frame is a main node, and determining a response period of the basic response frame according to a value S of a period identification bit section in a frame ID of the basic response frame; determining to send the basic response frame to the master node at a response time in the response period according to a first remainder obtained by calculating a remainder for the response period according to a value of an instruction/time slot bit segment in a frame ID of the basic response frame and a second remainder obtained by calculating a remainder for the response period according to a timestamp of the currently received basic control instruction frame, wherein the response time is the timestamp of the currently received basic control instruction frame;
and if the type of the data frame is the basic response frame, determining that the sender of the data frame is the slave node.
An embodiment of the application provides a non-transitory computer readable storage medium, on which a computer program is stored, the computer program, when executed by a processor, implementing the steps of:
receiving a data frame, wherein the frame structure of the data frame comprises a frame ID, and the frame ID comprises a direction bit section, a period identification bit section, a slave node address bit section and an instruction/time slot bit section;
determining the type of the data frame according to the frame ID, wherein the type of the data frame comprises a basic control instruction frame or a basic response frame, and the basic response frame is a data frame sent by a slave node in response to the basic control instruction frame;
if the type of the data frame is the basic control instruction frame, determining that a sender of the data frame is a main node, and determining a response period of the basic response frame according to a value S of a period identification bit field in a frame ID of the basic response frame; determining to send the basic response frame to the master node at a response time in the response period according to a first remainder obtained by calculating a remainder for the response period according to a value of an instruction/time slot bit segment in a frame ID of the basic response frame and a second remainder obtained by calculating a remainder for the response period according to a timestamp of the currently received basic control instruction frame, wherein the response time is the timestamp of the currently received basic control instruction frame;
and if the type of the data frame is the basic response frame, determining that the sender of the data frame is the slave node.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment may be implemented by software plus a necessary general hardware platform, and may also be implemented by hardware. Based on the understanding, the above technical solutions substantially or otherwise contributing to the prior art may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the various embodiments or some parts of the embodiments.
It should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; 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 solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.

Claims (7)

1. A CAN FD bus communication method, comprising:
receiving a data frame, wherein the frame structure of the data frame comprises a frame ID (identity), and the frame ID comprises a direction bit section, a period identification bit section, a slave node address bit section and an instruction/time slot bit section;
determining the type of the data frame according to the frame ID, wherein the type of the data frame comprises a basic control instruction frame or a basic response frame, and the basic response frame is a data frame sent by a slave node in response to the basic control instruction frame;
if the type of the data frame is the basic control instruction frame, determining that a sender of the data frame is a main node, and determining a response period of the basic response frame according to a value S of a period identification bit field in a frame ID of the basic response frame; determining to send the basic response frame to the master node at a response time in the response period according to a first remainder obtained by calculating a remainder for the response period according to a value of an instruction/time slot bit segment in a frame ID of the basic response frame and a second remainder obtained by calculating a remainder for the response period according to a timestamp of the currently received basic control instruction frame, wherein the response time is the timestamp of the currently received basic control instruction frame;
if the type of the data frame is the basic response frame, determining that the sender of the data frame is the slave node;
the bit number of the period identification bit segment is P bits, P is an integer greater than or equal to 2, and the frame structure of the data frame further comprises a data segment data structure; the data segment data structure in the frame structure of the basic control instruction frame comprises a timestamp and a period control parameter, the timestamp occupies a first preset value byte, the period control parameter occupies a second preset value M byte together, the first preset value byte is followed, and M =2 P -2, each period control parameter occupies one byte;
the determining the response period of the basic response frame according to the value S of the period identification bit segment in the frame ID of the basic response frame includes:
determining that the value of the S-th period control parameter in the data segment data structure of the basic control instruction is the response period of the slave node basic response frame according to the value S of the period identification bit segment in the frame ID of the basic response frame, wherein S is an integer and is more than or equal to 1 and less than or equal to M;
the instruction/time slot bit section in the frame ID of the basic response frame represents the time slot number allocated to the slave node, the timestamp of the basic control instruction frame is relative time, the counting unit is a pulse period, and each pulse period is increased by 1;
the determining, according to a first remainder obtained by performing remainder calculation on the response cycle by using a value of an instruction/slot bit segment in a frame ID of the basic response frame and a second remainder obtained by performing remainder calculation on the response cycle by using a timestamp of the currently received basic control instruction, that the basic response frame is sent to the master node at a response time in the response cycle includes:
and if a first remainder obtained by calculating a remainder for the response period by the value of the instruction/time slot bit segment in the frame ID of the basic response frame is equal to a second remainder obtained by calculating a remainder for the response period by the timestamp of the currently received basic control instruction, determining to transmit the basic response frame to the master node at the response time in the response period.
2. The method of claim 1, wherein the type of the data frame further comprises: an emergency instruction frame, an emergency response frame, a single-node instruction frame or a single-node response frame;
the method further comprises the following steps:
if the type of the data frame is the emergency instruction frame or the single-node instruction frame, determining that the data frame is from the master node, and respectively sending the emergency response frame or the single-node response frame responding to the data frame from the slave node to the master node;
and if the type of the data frame is the emergency response frame or the single-node response frame, determining that the data frame is from the slave node.
3. The method of claim 1, wherein a value of 0 in the direction bit field indicates that the sender of the data frame is a master node; the value of the direction bit segment is 1, which indicates that the sender of the data frame is a slave node;
the period identification bitThe value of the segment is R, R is an integer, and R is more than or equal to 0 and less than or equal to 2 P -1；
The bit number of the slave node address bit segment is N bits, and N is an integer greater than or equal to 1 and represents the slave node address; when the sender of the data frame is a master node, the slave node address bit field represents a destination address, wherein the value of the slave node address bit field is 0, and the slave node address bit field represents that a broadcast address is used by the master node; when the sender of the data frame is a slave node, the address bit field of the slave node represents a source address;
the bit number of the instruction/time slot bit segment is T bits, and T is an integer greater than or equal to 1; when the sender of the data frame is a main node, the instruction/time slot bit segment represents the type of the data frame sent by the main node; when the sender of the data frame is a slave node, the instruction/time slot bit segment represents the time slot number allocated to the slave node.
4. The method of claim 3, wherein the determining the type of the data frame according to the frame ID comprises:
if the value of the direction bit segment is 0 and the value R of the period identification bit segment is 0, determining that the type of the data frame is an emergency instruction frame;
if the value of the direction bit segment is 1 and the value R of the period identification bit segment is 0, determining that the type of the data frame is an emergency response frame;
if the value R of the period identification bit segment is 2 P -1, determining that the type of the data frame is an aperiodic normal communication frame, wherein the aperiodic normal communication frame comprises a single-node instruction frame and a single-node response frame;
if the value of the direction bit segment is 0, the value R of the period identification bit segment is 1, the value of the slave node address bit segment is 0, and the value of the instruction/time slot bit segment is 1, determining that the type of the data frame is a basic control instruction frame;
if the value of the direction bit segment is 1 and the value of the period identification bit segment R is Q, Q is an integer, and Q is more than 0 and less than 2 P -1, then determining the type of the data frame as a basic response frame, the periodicity indexThe value Q of the identification section indicates a cycle packet number after the slave nodes are periodically grouped according to the data refresh rate of the slave nodes.
5. A CAN FD bus communication apparatus, comprising:
the receiving and sending unit is used for receiving a data frame, wherein the frame structure of the data frame comprises a frame ID, and the frame ID comprises a direction bit section, a period identification bit section, a slave node address bit section and an instruction/time slot bit section;
a processing unit, configured to determine a type of the data frame according to the frame ID, where the type of the data frame includes a basic control instruction frame or a basic response frame, and the basic response frame is a data frame sent by a slave node in response to the basic control instruction frame;
the processing unit is further configured to determine that a sender of the data frame is a master node if the type of the data frame is the basic control instruction frame, and determine a response period of the basic response frame according to a value S of a period identification bit segment in a frame ID of the basic response frame; determining to send the basic response frame to the master node at a response time in the response period according to a first remainder obtained by calculating a remainder for the response period according to a value of an instruction/time slot bit segment in a frame ID of the basic response frame and a second remainder obtained by calculating a remainder for the response period according to a timestamp of the currently received basic control instruction frame, wherein the response time is the timestamp of the currently received basic control instruction frame; or
The processing unit is further configured to determine that a sender of the data frame is the slave node if the type of the data frame is the basic response frame;
the bit number of the period identification bit segment is P bits, P is an integer greater than or equal to 2, and the frame structure of the data frame further comprises a data segment data structure; the data segment data structure in the frame structure of the basic control instruction frame comprises a timestamp and a period control parameter, the timestamp occupies a first preset value byte, the period control parameter occupies a second preset value M byte, the first preset value byte is followed, and M =2 P -2 each ofThe period control parameter occupies one byte;
the determining the response period of the basic response frame according to the value S of the period identification bit segment in the frame ID of the basic response frame includes:
determining that the value of the S-th period control parameter in the data segment data structure of the basic control instruction is the response period of the slave node basic response frame according to the value S of the period identification bit segment in the frame ID of the basic response frame, wherein S is an integer and is more than or equal to 1 and less than or equal to M;
the instruction/time slot bit section in the frame ID of the basic response frame represents the time slot number allocated to the slave node, the timestamp of the basic control instruction frame is relative time, the counting unit is a pulse period, and each pulse period is increased by 1;
the determining, according to a value of an instruction/slot bit segment in a frame ID of the basic response frame, a first remainder obtained by adding a remainder to the response period and a second remainder obtained by adding a remainder to the response period with a timestamp of the currently received basic control instruction, that the basic response frame is sent to the master node at a response time in the response period includes:
and if a first remainder obtained by calculating a remainder for the response period by the value of the instruction/time slot bit segment in the frame ID of the basic response frame is equal to a second remainder obtained by calculating a remainder for the response period by the timestamp of the currently received basic control instruction, determining to transmit the basic response frame to the master node at the response time in the response period.
6. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1-4 when executing the program.
7. A non-transitory computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, performs the method according to any one of claims 1-4.
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