CN114979058B - CAN multi-mailbox multiplexing processing method and system - Google Patents
CAN multi-mailbox multiplexing processing method and system Download PDFInfo
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- CN114979058B CN114979058B CN202210771163.4A CN202210771163A CN114979058B CN 114979058 B CN114979058 B CN 114979058B CN 202210771163 A CN202210771163 A CN 202210771163A CN 114979058 B CN114979058 B CN 114979058B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L61/00—Network arrangements, protocols or services for addressing or naming
- H04L61/09—Mapping addresses
- H04L61/10—Mapping addresses of different types
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40267—Bus for use in transportation systems
- H04L2012/40273—Bus for use in transportation systems the transportation system being a vehicle
Abstract
The application discloses a CAN multi-mailbox multiplexing processing method and a system, which relate to the technical field of automobile parts, and the method comprises the steps of classifying each CAN channel mailbox to form a sending mailbox and a receiving mailbox; configuring corresponding software to control a receiving mailbox, analyzing the receiving mailbox after receiving the bus message to obtain a CAN ID, and processing corresponding data according to the CAN ID; and configuring all the sending mailboxes to perform sending operation, and dynamically matching the relation between the CAN ID and the sending mailbox between the bottom mailbox and the bus message to be sent. The application CAN effectively ensure the timeliness of CAN signal receiving and transmitting processing and avoid the loss of data.
Description
Technical Field
The application relates to the technical field of automobile parts, in particular to a CAN multi-mailbox multiplexing processing method and system.
Background
With the wide application of automobile CAN (Controller Area Network ) communication and the need of transmitting the traditional hard-wire signal in a CAN signal mode after the traditional hard-wire signal is converted, the CAN signals processed among various modules of the automobile are more and more. The development of automobile electronics and the continuous progress of chip performance have positive effects on processing more and more CAN signals, but with a series of requirements of various requirements, unified processing of CAN signals by a software architecture and the like, a general way for processing the CAN signals is required.
In the current CAN chip of the automobile, there are multiple paths, each path has the same or different number of mailboxes, and each mailbox has a configurable signal filtering ID (Identity Document, identity number) and a mask for configuring the perception of signals by each mailbox. When the message of a certain ID on the CAN bus passes the verification of the filtering ID and the mask of a certain mailbox, the receiving interrupt of the mailbox is triggered, so that the message is received by a processor, and the content of the ID signal on the bus is acquired.
In the software development process, all received messages of the current module are generally set and classified, so that the filter ID and mask which are ingenious enough are convenient to design, and the receiving requirement of the module is met. Meanwhile, if the design is improper or the module processing is busy, when a mailbox receives a plurality of ID data simultaneously and triggers successively in a short time, the signal can be missed, which is absolutely impermissible when the signal is processed. For a processor with little real-time requirement on CAN signal processing, the receiving and processing of the query CAN signal CAN be performed through a Polling mode. However, for a processor that needs to receive a large amount of CAN messages and has certain requirements on processing and response time, what processing method is adopted to avoid possible problems and hidden dangers in the processing process is a problem that needs to be solved currently.
Disclosure of Invention
Aiming at the defects in the prior art, the application aims to provide the CAN multi-mailbox multiplexing processing method and system, which CAN effectively ensure the timeliness of CAN signal receiving and transmitting processing and avoid data loss.
In order to achieve the above purpose, the application provides a CAN multi-mailbox multiplexing processing method, which specifically comprises the following steps:
classifying each path of CAN channel mailbox to form a sending mailbox and a receiving mailbox;
configuring corresponding software to control a receiving mailbox, analyzing the receiving mailbox after receiving the bus message to obtain a CAN ID, and processing corresponding data according to the CAN ID;
and configuring all the sending mailboxes to perform sending operation, and dynamically matching the relation between the CAN ID and the sending mailbox between the bottom mailbox and the bus message to be sent.
On the basis of the technical scheme, the number of the sending mailboxes is distributed according to MailboxTxNum.
On the basis of the technical scheme, the number of the receiving mailboxes is distributed according to MailboxRxNum.
On the basis of the technical scheme, the receiving mailbox does not carry out hardware ID filtering, and the sending mailbox does not carry out hardware ID limiting.
Based on the technical scheme, the relation between the CAN ID and the sending mailbox is dynamically matched between the bottom mailbox and the bus message to be sent, and the specific steps comprise:
when the bus message to be sent exists, judging whether a spare sending mailbox exists currently or not to send the bus message of the type based on the type of the bus message to be sent:
if yes, binding the bus message to be sent with the spare sending mailbox, and setting the state of the sending mailbox as the state to be sent;
if not, the feedback bus is busy, waiting for the next transmission.
On the basis of the above technical solution, after setting the state of sending the mailbox to the state to be sent, the method further includes:
the CAN module sends data of a sending mailbox when detecting that the sending mailbox is in a state to be sent in a task;
when receiving the sending interrupt, resetting the sending mailbox, triggering a callback function bound to the sending mailbox, and then continuously detecting whether the sending mailbox in a state to be sent exists.
The application provides a CAN multi-mailbox multiplexing processing system, which comprises:
the classification unit is used for classifying each path of CAN channel mailbox to form a sending mailbox and a receiving mailbox;
the first configuration unit is used for configuring corresponding software to control the receiving mailbox so that the receiving mailbox CAN analyze the received bus message to obtain a CAN ID and process corresponding data according to the CAN ID;
the second configuration unit is used for configuring all the sending mailboxes to perform sending operation, and dynamically matching the relation between the CAN ID and the sending mailboxes between the bottom mailbox and the bus message to be sent.
On the basis of the technical scheme, the number of the sending mailboxes is distributed according to MailboxTxNum, and the number of the receiving mailboxes is distributed according to MailboxRxNum.
Based on the technical scheme, the relationship between the CAN ID and the sending mailbox is dynamically matched between the bottom mailbox and the bus message to be sent, and the specific process comprises the following steps:
when the bus message to be sent exists, judging whether a spare sending mailbox exists currently or not to send the bus message of the type based on the type of the bus message to be sent:
if yes, binding the bus message to be sent with the spare sending mailbox, and setting the state of the sending mailbox as the state to be sent;
if not, the feedback bus is busy, waiting for the next transmission.
On the basis of the above technical solution, after setting the state of sending the mailbox to the state to be sent, the method further includes:
the CAN module sends data of a sending mailbox when detecting that the sending mailbox is in a state to be sent in a task;
when receiving the sending interrupt, resetting the sending mailbox, triggering a callback function bound to the sending mailbox, and then continuously detecting whether the sending mailbox in a state to be sent exists.
Compared with the prior art, the application has the advantages that: the method comprises the steps of classifying each path of CAN channel mailbox to form a sending mailbox and a receiving mailbox, configuring corresponding software to control the receiving mailbox so that the receiving mailbox analyzes the received bus messages to obtain CAN IDs, processing corresponding data according to the CAN IDs, configuring all the sending mailboxes to perform sending operation, dynamically matching the relation between the CAN IDs and the sending mailboxes between the bottom mailbox and the bus messages to be sent, and performing unified management of CAN signal bottom receiving and sending in a software processing mode through multi-mailbox multiplexing operation, so that timeliness of CAN signal receiving and sending processing is effectively ensured, and loss of data is avoided.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a CAN multi-mailbox multiplexing processing method in an embodiment of the present application.
Detailed Description
The embodiment of the application provides a CAN multi-mailbox multiplexing processing method, which is characterized in that each path of CAN channel mailbox is classified to form a sending mailbox and a receiving mailbox, then corresponding software is configured to control the receiving mailbox, so that the receiving mailbox CAN analyze the received bus message to obtain a CAN ID, corresponding data is processed according to the CAN ID, then all sending mailboxes are configured to perform sending operation, the relation between the bottom mailbox and the bus message to be sent is dynamically matched, and the receiving and sending of CAN signals are uniformly managed in a software processing mode through the multi-mailbox multiplexing operation, so that the timeliness of the CAN signal receiving and sending processing is effectively ensured, and the loss of the data is avoided. The embodiment of the application correspondingly provides a CAN multi-mailbox multiplexing processing system.
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application.
Referring to fig. 1, an embodiment of the present application provides a method for processing multiple mailbox multiplexing, which is used for processing various signal transceivers under the condition that a processor receives more CAN IDs, and CAN be configured in multiple items without changing a bottom module for different controllers, that is, the method performs unified management of the bottom transceiver of the CAN signal by processing the receiving and transmitting of the CAN signal through software by the multiple mailbox multiplexing operation.
The CAN multi-mailbox multiplexing processing method specifically comprises the following steps:
s1: classifying each path of CAN channel mailbox to form a sending mailbox and a receiving mailbox;
in the application, the number of the sending mailboxes is distributed according to the mailbox sending number, the number of the receiving mailboxes is distributed according to the mailbox receiving number, and the sending mailboxes and the receiving mailboxes can be configured according to specific items.
S2: configuring corresponding software to control a receiving mailbox, analyzing the receiving mailbox after receiving the bus message to obtain a CAN ID, and processing corresponding data according to the CAN ID;
in the application, the receiving mailbox does not carry out hardware ID filtering, and is processed by software, and after the receiving mailbox receives the bus message, the receiving mailbox analyzes the bus message to obtain the CAN ID, and processes corresponding data according to the CAN ID.
S3: and configuring all the sending mailboxes to perform sending operation, and dynamically matching the relation between the CAN ID and the sending mailbox between the bottom mailbox and the bus message to be sent. The sending mailbox does not limit the hardware ID, and all the sending mailboxes can perform sending operation.
In the embodiment of the application, the relation between the CAN ID and the sending mailbox is dynamically matched between the bottom mailbox and the bus message to be sent, and the specific steps comprise:
when the bus message to be sent exists, judging whether a spare sending mailbox exists currently or not to send the bus message of the type based on the type of the bus message to be sent:
if yes, binding the bus message to be sent with the spare sending mailbox, and setting the state of the sending mailbox as the state to be sent;
if not, the feedback bus is busy, waiting for the next transmission.
In the embodiment of the present application, after setting the state of sending the mailbox to the state to be sent, the method further includes:
a: the CAN module sends data of a sending mailbox when detecting that the sending mailbox is in a state to be sent in a task;
b: when receiving the sending interrupt, resetting the sending mailbox, triggering a callback function bound to the sending mailbox, and then continuously detecting whether the sending mailbox in a state to be sent exists.
In the application, for the configuration information of the sending mailbox and the binding state with the CAN signal, the specific steps are as follows:
the number of the sending mailboxes with configurable channels is Mailbox TxNum, wherein the number of the mailboxes and the information occupied by network management messages (NmCnt), diagnosis messages (UdsCnt), conventional application messages (AppCnt) and the like can be selectively configured according to the corresponding module information. For example, when an application message is sent, the mailbox state corresponding to the conventional application message is queried, and then the sending message is set to a spare mailbox and waiting for sending.
The application virtualizes a CAN communication interface between a real CAN mailbox and software processing, manages the received data in a unified way, and filters the received data. At a transmission rate of 500kb/s, each standard frame is about 120 bits, each extended frame is about 140 bits, 1s can carry 4000 frames of data, and 1ms can process about 4 frames of signals. For full load processing, when the hardware filtering is not set in the receiving mailbox, the CAN signals are stored in sequence from small to large according to the allocated mailbox, and the possibility of missing data does not exist until all the configured mailboxes are marked with the CAN signals for triggering. The problem of frame loss caused by the rapid multiple signal triggering of the mailbox is avoided, and enough margin is left for processing signals by the design.
The data transmission adopts a pre-buffering state, a corresponding value is set, and then transmission is enabled. Unsuccessful transmission in the case of busy buses can be avoided.
According to the CAN multi-mailbox multiplexing processing method, each path of CAN channel mailbox is classified to form a sending mailbox and a receiving mailbox, corresponding software is configured to control the receiving mailbox so that the receiving mailbox CAN analyze after receiving and obtaining a bus message to obtain a CAN ID, corresponding data are processed according to the CAN ID, all sending mailboxes are configured to perform sending operation, the relation between the CAN ID and the sending mailbox is dynamically matched between the bottom mailbox and the bus message to be sent, and the receiving and sending of CAN signals are uniformly managed in a software processing mode through the multi-mailbox multiplexing operation, so that the timeliness of CAN signal receiving and sending processing is effectively ensured, and the loss of data is avoided.
In a possible implementation manner, the embodiment of the present application further provides a readable storage medium, where the readable storage medium is located in a PLC (Programmable Logic Controller ) controller, and a computer program is stored on the readable storage medium, where the program is executed by a processor to implement the following steps of the CAN multi-mailbox multiplexing method:
classifying each path of CAN channel mailbox to form a sending mailbox and a receiving mailbox;
configuring corresponding software to control a receiving mailbox, analyzing the receiving mailbox after receiving the bus message to obtain a CAN ID, and processing corresponding data according to the CAN ID;
and configuring all the sending mailboxes to perform sending operation, and dynamically matching the relation between the CAN ID and the sending mailbox between the bottom mailbox and the bus message to be sent.
The storage media may take the form of any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium may be, for example, but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations of the present application may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
The embodiment of the application provides a CAN multi-mailbox multiplexing processing system which comprises a classification unit, a first configuration unit and a second configuration unit.
The classification unit is used for classifying each path of CAN channel mailbox to form a sending mailbox and a receiving mailbox; the first configuration unit is used for configuring corresponding software to control the receiving mailbox so that the receiving mailbox CAN analyze the received bus message to obtain a CAN ID and process corresponding data according to the CAN ID; the second configuration unit is used for configuring all the sending mailboxes to perform sending operation, and dynamically matching the relation between the CAN ID and the sending mailboxes between the bottom mailbox and the bus message to be sent.
In the embodiment of the application, the number of the sending mailboxes is distributed according to MailboxTxNum, and the number of the receiving mailboxes is distributed according to MailboxRxNum.
In the embodiment of the application, the relation between the CAN ID and the sending mailbox is dynamically matched between the bottom mailbox and the bus message to be sent, and the specific process comprises the following steps:
when the bus message to be sent exists, judging whether a spare sending mailbox exists currently or not to send the bus message of the type based on the type of the bus message to be sent:
if yes, binding the bus message to be sent with the spare sending mailbox, and setting the state of the sending mailbox as the state to be sent;
if not, the feedback bus is busy, waiting for the next transmission.
In the embodiment of the present application, after setting the state of sending the mailbox to the state to be sent, the method further includes:
the CAN module sends data of a sending mailbox when detecting that the sending mailbox is in a state to be sent in a task;
when receiving the sending interrupt, resetting the sending mailbox, triggering a callback function bound to the sending mailbox, and then continuously detecting whether the sending mailbox in a state to be sent exists.
The foregoing is only a specific embodiment of the application to enable those skilled in the art to understand or practice the application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Claims (7)
1. The CAN multi-mailbox multiplexing processing method is characterized by comprising the following steps of:
classifying each path of CAN channel mailbox to form a sending mailbox and a receiving mailbox;
configuring corresponding software to control a receiving mailbox, analyzing the receiving mailbox after receiving the bus message to obtain a CAN ID, and processing corresponding data according to the CAN ID;
configuring all the sending mailboxes to perform sending operation, and dynamically matching the relation between the CAN ID and the sending mailbox between the bottom mailbox and the bus message to be sent;
the receiving mailbox does not carry out hardware ID filtering, and the sending mailbox does not carry out hardware ID limiting;
wherein, between the bottom mailbox and the bus message to be sent, dynamically matching the relation between CAN ID and the sending mailbox, the specific steps include:
when the bus message to be sent exists, judging whether a spare sending mailbox exists currently or not to send the bus message of the type based on the type of the bus message to be sent:
if yes, binding the bus message to be sent with the spare sending mailbox, and setting the state of the sending mailbox as the state to be sent;
if not, the feedback bus is busy, waiting for the next transmission.
2. The CAN multi-mailbox multiplexing processing method of claim 1, wherein: and the number of the sending mailboxes is distributed according to MailboxTxNum.
3. The CAN multi-mailbox multiplexing processing method of claim 1, wherein: and the number of the receiving mailboxes is distributed according to MailboxRxNum.
4. The CAN multi-mailbox multiplexing processing method of claim 1, further comprising, after setting the status of the send mailbox to the to-be-sent status:
the CAN module sends data of a sending mailbox when detecting that the sending mailbox is in a state to be sent in a task;
when receiving the sending interrupt, resetting the sending mailbox, triggering a callback function bound to the sending mailbox, and then continuously detecting whether the sending mailbox in a state to be sent exists.
5. A CAN multiple mailbox multiplexing processing system comprising:
the classification unit is used for classifying each path of CAN channel mailbox to form a sending mailbox and a receiving mailbox;
the first configuration unit is used for configuring corresponding software to control the receiving mailbox so that the receiving mailbox CAN analyze the received bus message to obtain a CAN ID and process corresponding data according to the CAN ID;
the second configuration unit is used for configuring all the sending mailboxes to perform sending operation, and dynamically matching the relation between the CAN ID and the sending mailbox between the bottom mailbox and the bus message to be sent;
the receiving mailbox does not carry out hardware ID filtering, and the sending mailbox does not carry out hardware ID limiting;
the method comprises the following specific processes of dynamically matching the relation between the CAN ID and the sending mailbox between the bottom mailbox and the bus message to be sent, wherein the specific processes comprise the following steps:
when the bus message to be sent exists, judging whether a spare sending mailbox exists currently or not to send the bus message of the type based on the type of the bus message to be sent:
if yes, binding the bus message to be sent with the spare sending mailbox, and setting the state of the sending mailbox as the state to be sent;
if not, the feedback bus is busy, waiting for the next transmission.
6. The CAN multi-mailbox multiplexing processing system of claim 5 wherein: the number of the sending mailboxes is distributed according to MailboxTxNum, and the number of the receiving mailboxes is distributed according to MailboxRxNum.
7. The CAN multi-mailbox multiplexing processing system of claim 5 further comprising, after setting the status of the send mailbox to the to-be-sent state:
the CAN module sends data of a sending mailbox when detecting that the sending mailbox is in a state to be sent in a task;
when receiving the sending interrupt, resetting the sending mailbox, triggering a callback function bound to the sending mailbox, and then continuously detecting whether the sending mailbox in a state to be sent exists.
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