CN114884767B - Synchronous dual-redundancy CAN bus communication system, method, equipment and medium - Google Patents

Synchronous dual-redundancy CAN bus communication system, method, equipment and medium Download PDF

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CN114884767B
CN114884767B CN202210490387.8A CN202210490387A CN114884767B CN 114884767 B CN114884767 B CN 114884767B CN 202210490387 A CN202210490387 A CN 202210490387A CN 114884767 B CN114884767 B CN 114884767B
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transceiver
controller
bus
synchronous dual
communication system
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CN114884767A (en
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刘敏
黄敏思
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Guangzhou Institute Of Software
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Guangzhou Institute Of Software
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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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L1/00—Arrangements for detecting or preventing errors in the information received
    • H04L1/22—Arrangements for detecting or preventing errors in the information received using redundant apparatus to increase reliability
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

The invention relates to the technical field of data communication, in particular to a synchronous dual-redundancy CAN bus communication system, method, equipment and medium, which comprises the following steps: the system comprises a microprocessor, a CAN transceiver module and a bus system which are connected in sequence; the microprocessor is internally provided with at least three CAN controllers, the CAN transceiver module comprises at least three CAN transceivers, namely a first CAN transceiver, a second CAN transceiver and a third CAN transceiver, the bus system comprises at least two CAN buses, and the second CAN transceiver and the third CAN transceiver are respectively connected with the two independent CAN buses for communication. The invention realizes a synchronous dual-redundancy CAN transmitting and receiving system by combining software and hardware, solves the problems that the traditional CAN bus cannot simultaneously transmit two redundant lines, has poor synchronism, more complex software processing and low working efficiency, effectively improves the anti-interference capability of the CAN bus and enables the CAN bus to normally work in a strong interference environment.

Description

Synchronous dual-redundancy CAN bus communication system, method, equipment and medium
Technical Field
The invention relates to the technical field of data communication, in particular to a synchronous dual-redundancy CAN bus communication system, method, equipment and medium.
Background
With the rapid development of electromotion, electric engineering machinery and electric tramcars are rapidly developing, control node buses brought by electromotion are distributed, the number of more than ten nodes of an original CAN bus system is increased to more than 60, the digitization degree of the system is improved, the length of a cable is shortened, the wiring difficulty is simplified, but the dependence of the system on the safety and reliability of the buses is brought, namely 'line breaking or breakdown', in short, therefore, in the occasions with extremely high safety, the redundancy design of the lines is particularly important, at least 2 groups of CAN buses are required to be arranged in a wiring way, and when one group of the control node buses has short circuit or open circuit caused by node damage, external force impact and the like, the other group of the control node buses CAN normally ensure the communication of data.
At present, the traditional CAN bus redundancy design is generally realized by controlling two CAN controllers and CAN transceivers through a microcontroller MCU, as shown in fig. 1, the microcontroller MCU is internally provided with two CAN controllers, each CAN controller is connected with one CAN transceiver, and then is connected to two CAN bus networks through CANH and CANL, and then performs dual redundancy sending and receiving strategy processing through the processing mode as shown in fig. 2, so as to realize data transmission, although the hardware of the traditional dual redundancy software and hardware method is simple, only two standard CAN bus circuits are needed, but the software processing is complex, and because the program of the MCU CAN only be sequentially executed, it is difficult to synchronize the sending of two sets of CAN data, the synchronization is poor, so as to bring uncertainty to redundancy judgment of the receiving node; in addition, when data is transmitted, if a line has large interference, an error retransmission mechanism during transmission of the CAN bus also affects the synchronism of the two redundant channels, so that the synchronization difference is further enlarged, difficulty is brought to redundancy judgment of a receiving node, the working efficiency of the system is reduced, meanwhile, the redundant system cannot realize hot backup, and cold backup CAN be carried out only in a channel switching mode.
Disclosure of Invention
The invention provides a synchronous dual-redundancy CAN bus communication system, a synchronous dual-redundancy CAN bus communication method, synchronous dual-redundancy CAN bus communication equipment and synchronous dual-redundancy CAN bus communication media, and solves the technical problems that a traditional CAN bus cannot simultaneously transmit two redundant lines, the synchronism is poor, the software processing is complex, and the working efficiency is low.
To solve the above technical problems, the present invention provides a synchronous dual-redundancy CAN bus communication system, method, device and medium.
In a first aspect, the present invention provides a synchronous dual redundant CAN bus communication system, comprising: the system comprises a microprocessor, a CAN transceiver module and a bus system which are connected in sequence;
at least three independent CAN controllers are arranged in the microprocessor, and are respectively a first CAN controller, a second CAN controller and a third CAN controller;
the CAN transceiver module comprises at least three CAN transceivers which are respectively a first CAN transceiver, a second CAN transceiver and a third CAN transceiver, wherein RXD pins of each CAN transceiver are correspondingly connected with RXD pins of each CAN controller in a one-to-one manner, and TXD pins of each CAN transceiver are connected in parallel with TXD pins of the first CAN controller, so that the second CAN transceiver and the third CAN transceiver synchronously receive data frames transmitted by the mirror image of the first CAN controller;
the bus system comprises at least two independent CAN buses, and the second CAN transceiver and the third CAN transceiver are respectively connected with the two independent CAN buses for communication so as to provide external redundant line output.
In a further embodiment, a first termination resistor is provided between a CANH pin and a CANL pin of the first CAN transceiver such that the first CAN controller and the first CAN transceiver form a self-transceiving loop; wherein the first termination resistor is used for matching impedance;
the first termination resistance comprises a 60 Ω termination resistance.
In a further embodiment, a second termination resistor is provided at both ends of a CAN bus in the bus system.
In a further embodiment, the second termination resistance comprises a 120 Ω termination resistance.
In a further embodiment, the second CAN transceiver and the third CAN transceiver are configured to transmit the data frames sent by the first CAN controller to two CAN buses respectively, and receive the data frames transmitted by the two CAN buses.
In a further embodiment, the microprocessor is configured to detect whether the first CAN controller and the first CAN transceiver successfully transmit and receive data frames, and determine whether the node is damaged according to the recorded accumulated number of failures and a preset failure threshold;
the microprocessor is further configured to detect whether at least one of the second CAN transceiver and the third CAN transceiver successfully receives a data frame, and determine whether the other CAN transceiver has the same data frame.
In a further embodiment, the number of CAN controllers is the same as the number of CAN transceivers in the CAN transceiver module.
In a second aspect, the present invention provides a method for synchronous dual-redundancy CAN bus communication, comprising the following steps:
controlling the first CAN controller to send the data frame to each CAN transceiver in the CAN transceiver modules;
detecting whether the first CAN controller and the first CAN transceiver successfully receive and transmit data frames, and judging whether the node is damaged according to the recorded fault accumulation times and a preset fault threshold value;
and detecting whether at least one of the second CAN transceiver and the third CAN transceiver successfully receives the data frame, and judging whether the other CAN transceiver has the same data frame.
In a third aspect, the present invention further provides a computer device, including a processor and a memory, where the processor is connected to the memory, the memory is used for storing a computer program, and the processor is used for executing the computer program stored in the memory, so that the computer device executes the steps for implementing the method.
In a fourth aspect, the present invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the above method.
The invention provides a synchronous dual-redundancy CAN bus communication system, a method, equipment and a medium, wherein the system is provided with at least three paths of CAN controllers and CAN transceivers, self-transceiving of data frames is realized through one path of CAN controller and CAN transceiver, and external redundant bus output is realized through the other two paths of CAN controller and CAN transceiver for completely decoupling and separating the error-detected CAN controller from the CAN controller for transmitting the data frames. Compared with the prior art, the system not only realizes synchronous sending and receiving of the data frame, but also ensures that the sending of the data frame is not interrupted by any interference, and improves the transmission stability of the CAN network and the software processing efficiency.
Drawings
FIG. 1 is a schematic diagram of a conventional dual redundant CAN bus node provided in the background of the present invention;
FIG. 2 is a schematic diagram of a conventional dual redundant CAN bus software processing flow provided by the background art of the present invention;
FIG. 3 is a schematic diagram of a conventional dual-redundancy CAN bus provided in the background art of the present invention being asynchronous due to local interference;
fig. 4 is a block diagram of a synchronous dual-redundancy CAN bus communication system according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a dual-redundancy CAN bus provided by an embodiment of the present invention being synchronized by local interference;
fig. 6 is a schematic diagram of a data transmission flow of the synchronous dual-redundancy CAN according to the embodiment of the present invention;
fig. 7 is a schematic flowchart of a synchronous dual-redundancy CAN bus communication method according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a computer device according to an embodiment of the present invention.
Detailed Description
The embodiments of the present invention will be described in detail below with reference to the accompanying drawings, which are given solely for the purpose of illustration and are not to be construed as limitations of the invention, including the drawings which are incorporated herein by reference and for illustration only and are not to be construed as limitations of the invention, since many variations thereof are possible without departing from the spirit and scope of the invention.
Referring to fig. 4, an embodiment of the present invention provides a synchronous dual-redundancy CAN bus communication system, as shown in fig. 4, the system includes: the system comprises a microprocessor 10, a CAN transceiver module 11 and a bus system which are connected in sequence, wherein at least three independent CAN controllers which are a first CAN controller, a second CAN controller and a third CAN controller are arranged in the microprocessor 10; the CAN transceiver module 11 comprises at least three CAN transceivers, namely a first CAN transceiver, a second CAN transceiver and a third CAN transceiver, the number of the CAN controllers is the same as that of the CAN transceivers in the CAN transceiver module, and each CAN controller is connected with one CAN transceiver.
In this embodiment, an RXD pin of each CAN transceiver is connected to an RXD pin of each CAN controller in a one-to-one correspondence, and a TXD pin of each CAN transceiver is connected to a TXD pin of the first CAN controller in parallel, so that the second and third CAN transceivers synchronously receive data frames sent by the mirror image of the first CAN controller.
Specifically, a TXD pin of the first CAN controller is connected to a TXD pin of a first CAN transceiver, an RXD pin of the first CAN controller is connected with an RXD pin of the first CAN transceiver, and a first termination resistor is arranged between a CANH pin and a CANL pin of the first CAN transceiver, so that the first CAN controller and the first CAN transceiver form a self-transceiving loop; in this embodiment, the first termination resistance comprises a 60 Ω termination resistance; it should be noted that, as shown in fig. 5, a self-transceiving loop formed by the first CAN controller and the first CAN controller is equivalent to a board-level closed security microenvironment, and in this environment, any error does not occur in sending a CAN data frame, and the whole data frame CAN be completely transmitted.
This embodiment has formed "receiving and dispatching" return circuit from through first CAN controller and first CAN transceiver, realizes that the CAN message of this node sends, "simply" sends in board-mounted "receiving and dispatching" return circuit, has avoided the interference on the CAN bus, avoids appearing sending wrong problem, this embodiment sets up in "receiving and dispatching" return circuit first termination resistance is used for matching impedance.
The TXD pin of the first CAN controller is also connected in parallel to the TXD pins of the second CAN transceiver and the third CAN transceiver which are output to the outside through a line, so that the signals converted into differential CANH and CANL through the second CAN transceiver and the third CAN transceiver are accessed into an actual redundant first CAN bus and an actual redundant second CAN bus, and the complete synchronous sending of CAN sending messages and the receiving of two redundant buses are realized, namely, the message waveform timestamps sent to the CAN line 1 and the CAN line 2 are completely consistent; and simultaneously, an RXD pin of the second CAN controller is connected with an RXD pin of the second CAN transceiver, and an RXD pin of the third CAN controller is connected with an RXD pin of the third CAN transceiver.
It should be noted that, in this embodiment, the TXD pins of the second and third CAN controllers are not connected to any other pin, so as to ensure that the other CAN controllers except the self-transceiving CAN controller do not send out an error frame to interrupt transmission, as shown in fig. 5, when the second and third CAN controllers encounter interference in the transmission process, the self-transceiving processes of the first and second CAN controllers are completely independent and are not interfered by the other CAN controllers and the CAN controllers, and the second CAN controller monitors an error and sends an error frame to interrupt transmission of the second and third CAN controllers according to the CAN rule by sending the error frame through the TXD pin, and because the TXD pin of the second CAN controller is not connected in this embodiment, no error frame is sent to interrupt transmission, thereby avoiding a situation that all nodes receive an abnormal message due to a local error of a global error, and avoiding retransmission of a node due to an error, thereby ensuring the time for sending a message, CAN1 in fig. 5 indicates that the first and third CAN controllers consist of a second and a third CAN controller, and the second and the third CAN controller represents a third CAN transceiver module, and the second and the third CAN controller module.
In the embodiment, at least three CAN controllers are adopted to decouple an RXD pin for error detection and a transmitting TXD pin in the CAN controllers completely, so that the first CAN controller is ensured not to be interrupted by any interference during transmission, the transmission is finished in a 'pure' environment, the self-sending and self-receiving of data frames are realized through the first CAN transceiver, and the mirror image transmission of the data frames is realized through the second CAN transceiver and the third CAN transceiver.
The bus system comprises at least two independent CAN buses which are respectively a first CAN line and a second CAN line, and the second CAN transceiver and the third CAN transceiver are respectively connected with the two independent CAN buses for communication so as to realize the output of an external redundant line.
In this embodiment, the CANH pin and the CANL pin of the second CAN transceiver are connected to the first CAN line, and the CANH pin and the CANL pin of the third CAN transceiver are connected to the second CAN line.
In one embodiment, two ends of a CAN bus in the bus system are provided with second terminal resistors; the second termination resistor includes a 120 Ω termination resistor, and as shown in fig. 4, 120 Ω termination resistors are disposed at two ends of the first and second CAN lines.
In one embodiment, the microprocessor is configured to detect whether the first CAN controller and the first CAN transceiver successfully receive and transmit data frames, and determine whether the node is damaged according to the recorded accumulated number of faults and a preset fault threshold; and the CAN transceiver is also used for detecting whether at least one of the second CAN transceiver and the third CAN transceiver successfully receives the data frame or not and judging whether the other CAN transceiver has the same data frame or not.
Specifically, as shown in fig. 6, after controlling the first CAN controller to send a data frame, the microprocessor determines whether the first CAN controller and the first CAN transceiver successfully receive and send the data frame, if yes, sends the next data frame, if not, records the accumulated number of faults, and determines whether the node is damaged according to the accumulated number of faults and a preset fault threshold, that is, when the accumulated number of faults exceeds the preset fault threshold, determines that the node is damaged, writes a fault code into the database, and reminds a worker to maintain; when the accumulated failure times are lower than a preset failure threshold value, sending a next data frame; it should be noted that, the embodiment preferentially sets the failure threshold value to 32, and those skilled in the art can adjust the failure threshold value according to the specific implementation.
Meanwhile, the microprocessor judges whether at least one of the second CAN transceiver and the third CAN transceiver successfully receives the data frame, and if not, the microprocessor returns to re-detection; if so, judging whether the other CAN transceiver has the same data frame, and emptying the data buffer of the CAN transceiver with the same data frame when judging that the other CAN transceiver has the same data frame.
In this embodiment, when all nodes in the CAN bus system adopt the synchronous dual-redundancy CAN bus communication system, messages on two redundant buses are necessarily completely synchronous, a receiver does not need to perform judgment waiting of time difference, and CAN use the messages immediately as long as any CAN line receives the messages, and does not need to pay attention to whether the other line receives the messages, so that the time of redundancy waiting of the traditional design is greatly saved, and the bandwidth utilization rate of the system is improved.
The embodiment of the invention provides a synchronous dual-redundancy CAN bus communication system, which realizes a fully synchronous dual-redundancy CAN transceiving system by a microcontroller provided with at least three paths of CAN controllers and CAN transceivers connected with each path of CAN controller in a one-to-one correspondence manner; meanwhile, a self-transceiving loop is formed by the first CAN controller and the first CAN transceiver, so that the problem of redundant line time difference caused by error retransmission of the CAN bus is avoided, and the stability and the anti-interference capability of the CAN bus network are improved; compared with the prior art, the system provided by the embodiment has the advantages of simple hardware structure, low cost and greatly simplified data processing.
In one embodiment, as shown in fig. 7, an embodiment of the present invention provides a synchronous dual-redundancy CAN bus communication method, including the following steps:
s1, controlling a first CAN controller to send data frames to each CAN transceiver in a CAN transceiver module;
s2, detecting whether the first CAN controller and the first CAN transceiver successfully receive and transmit data frames, and judging whether the node is damaged according to the recorded fault accumulation times and a preset fault threshold value;
and S3, detecting whether at least one of the second CAN transceiver and the third CAN transceiver successfully receives the data frame, and judging whether the other CAN transceiver has the same data frame.
It should be noted that, the sequence numbers of the above processes do not mean the execution sequence, and the execution sequence of each process should be determined by the function and the inherent logic of each process, and should not limit the implementation process of the embodiment of the present application.
For specific limitation of a synchronous dual-redundancy CAN bus communication method, reference may be made to the above limitation on a synchronous dual-redundancy CAN bus communication system, and details are not repeated here. Those of ordinary skill in the art will appreciate that the various modules and steps described in connection with the embodiments disclosed herein may be implemented in hardware, software, or a combination of both. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the technical 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.
The embodiment of the invention provides a synchronous dual-redundancy CAN bus communication method, which realizes synchronous receiving and transmitting of dual-redundancy CAN through at least three CAN controllers and CAN transceivers; meanwhile, one CAN controller is used for sending data frames, and the other two CAN transceivers are connected to a CAN bus, so that the output of external redundant lines is realized, and the CAN controller is ensured not to be interfered when sending the data frames; compared with the prior art, the method provided by the embodiment CAN realize complete decoupling separation of the CAN controller for error detection and the CAN controller for data transmission without additional data transmission, reduce the redundant judgment workload of the receiving node, and improve the working efficiency of the system.
FIG. 8 is a computer device including a memory, a processor, and a transceiver connected via a bus according to an embodiment of the present invention; the memory is used to store a set of computer program instructions and data and may transmit the stored data to the processor, which may execute the program instructions stored by the memory to perform the steps of the above-described method.
Wherein the memory may comprise volatile memory or non-volatile memory, or may comprise both volatile and non-volatile memory; the processor may be a central processing unit, a microprocessor, an application specific integrated circuit, a programmable logic device, or a combination thereof. By way of example, and not limitation, the programmable logic device described above may be a complex programmable logic device, a field programmable gate array, general array logic, or any combination thereof.
In addition, the memory may be a physically separate unit or may be integrated with the processor.
It will be appreciated by those of ordinary skill in the art that the configuration shown in fig. 8 is a block diagram of only a portion of the configuration associated with the present application, and is not intended to limit the computing device to which the present application may be applied, and that a particular computing device may include more or fewer components than shown, or may combine certain components, or have the same arrangement of components.
In one embodiment, the present invention provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor implements the steps of the above-described method.
The embodiment of the invention provides a synchronous dual-redundancy CAN bus communication system, a method, equipment and a medium, wherein the synchronous dual-redundancy CAN bus communication system not only eliminates time delay and improves the accurate control of a CAN bus, but also realizes the technical effect that the synchronous dual-redundancy CAN bus is still kept synchronous by local interference by transmitting TXD of one CAN controller to the other two CAN controller branches on hardware, simplifies the workload of software processing, improves the real-time performance and safety of the CAN bus system, and really achieves the purposes of no worry in transmission and ready use in reception.
In the above embodiments, all or part of the implementation may be realized by software, hardware, firmware, or any combination thereof. When implemented in software, it may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (e.g., coaxial cable, fiber optics, digital subscriber line, or wireless (e.g., infrared, wireless, microwave, etc.) the computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device including one or more available media, such as magnetic media, (e.g., floppy disks, hard disks, magnetic tape), optical media (e.g., DVDs), or semiconductor media (e.g., SSDs), etc.
Those skilled in the art will appreciate that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and the computer program can include the processes of the embodiments of the methods described above when executed.
The above-mentioned embodiments only express some preferred embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, without departing from the technical principle of the present invention, several improvements and substitutions can be made, and these improvements and substitutions should also be regarded as the protection scope of the present application. Therefore, the protection scope of the present patent application shall be subject to the protection scope of the claims.

Claims (9)

1. A synchronous dual redundant CAN bus communication system, comprising: the system comprises a microprocessor, a CAN transceiver module and a bus system which are connected in sequence;
at least three independent CAN controllers are arranged in the microprocessor, and are respectively a first CAN controller, a second CAN controller and a third CAN controller;
the CAN transceiver module comprises at least three CAN transceivers which are respectively a first CAN transceiver, a second CAN transceiver and a third CAN transceiver, wherein RXD pins of each CAN transceiver are correspondingly connected with RXD pins of each CAN controller in a one-to-one manner, and TXD pins of each CAN transceiver are connected in parallel with TXD pins of the first CAN controller, so that the second CAN transceiver and the third CAN transceiver synchronously receive data frames transmitted by the mirror image of the first CAN controller; a first terminal resistor is arranged between a CANH pin and a CANL pin of the first CAN transceiver, so that the first CAN controller and the first CAN transceiver form a self-transceiving loop; wherein the first termination resistor is used for matching impedance; the first termination resistance comprises a 60 Ω termination resistance;
the bus system comprises at least two independent CAN buses, and the second CAN transceiver and the third CAN transceiver are respectively connected with the two independent CAN buses for communication so as to provide external redundant line output.
2. A synchronous dual-redundant CAN bus communication system as defined in claim 1, wherein: and second terminal resistors are arranged at two ends of a CAN bus in the bus system.
3. A synchronous dual redundant CAN bus communication system as recited in claim 2, wherein: the second termination resistance comprises a 120 Ω termination resistance.
4. A synchronous dual-redundant CAN bus communication system as defined in claim 1, wherein: the second CAN transceiver and the third CAN transceiver are used for respectively transmitting the data frames sent by the first CAN controller to the two CAN buses and receiving the data frames transmitted by the two CAN buses.
5. A synchronous dual redundant CAN bus communication system as recited in claim 1, wherein:
the microprocessor is used for detecting whether the first CAN controller and the first CAN transceiver successfully receive and transmit data frames and judging whether the node is damaged or not according to the recorded fault accumulation times and a preset fault threshold;
the microprocessor is further configured to detect whether at least one of the second CAN transceiver and the third CAN transceiver successfully receives a data frame, and determine whether the other CAN transceiver has the same data frame.
6. A synchronous dual redundant CAN bus communication system as recited in claim 1, wherein: the number of the CAN controllers is the same as the number of the CAN transceivers in the CAN transceiver module.
7. A synchronous dual-redundancy CAN bus communication method applied to the synchronous dual-redundancy CAN bus communication system according to any one of claims 1 to 6, the method comprising the steps of:
controlling the first CAN controller to send the data frame to each CAN transceiver in the CAN transceiver module;
detecting whether the first CAN controller and the first CAN transceiver successfully receive and transmit data frames per se, and judging whether the node is damaged or not according to the recorded accumulated times of faults and a preset fault threshold value;
and detecting whether at least one of the second CAN transceiver and the third CAN transceiver successfully receives the data frame, and judging whether the other CAN transceiver has the same data frame.
8. A computer device, characterized by: comprising a processor and a memory, the processor being connected to the memory, the memory being adapted to store a computer program, the processor being adapted to execute the computer program stored in the memory to cause the computer device to perform the method of claim 7.
9. A computer-readable storage medium characterized by: the computer-readable storage medium has stored thereon a computer program which, when executed, implements the method of claim 7.
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