CN117459348A - Multi-node CAN networking method - Google Patents
Multi-node CAN networking method Download PDFInfo
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- CN117459348A CN117459348A CN202311655384.6A CN202311655384A CN117459348A CN 117459348 A CN117459348 A CN 117459348A CN 202311655384 A CN202311655384 A CN 202311655384A CN 117459348 A CN117459348 A CN 117459348A
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- mcu module
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- 230000006855 networking Effects 0.000 title claims abstract description 29
- 238000000034 method Methods 0.000 title claims abstract description 17
- 239000002131 composite material Substances 0.000 claims description 28
- 230000005540 biological transmission Effects 0.000 claims description 9
- 238000012544 monitoring process Methods 0.000 claims description 6
- RVCKCEDKBVEEHL-UHFFFAOYSA-N 2,3,4,5,6-pentachlorobenzyl alcohol Chemical compound OCC1=C(Cl)C(Cl)=C(Cl)C(Cl)=C1Cl RVCKCEDKBVEEHL-UHFFFAOYSA-N 0.000 abstract description 10
- 238000013461 design Methods 0.000 description 6
- 238000004891 communication Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 101100163833 Arabidopsis thaliana ARP6 gene Proteins 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
Classifications
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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
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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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- 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]
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Small-Scale Networks (AREA)
Abstract
The invention discloses a multi-node CAN networking method, which is characterized in that an in-board networking circuit is assembled on a PCBA board, so that a plurality of MCU modules on the PCBA board CAN transmit signals to an off-board system through the same CAN transceiver.
Description
Technical Field
The invention relates to the field of industrial robots, in particular to a multi-node CAN networking method.
Background
The controller area network bus (CAN, control ler Area Network) is a serial communications protocol bus for real-time applications that CAN use anti-interference twisted pair wires to transmit signals for communication between the various components of the device, thereby replacing the expensive and cumbersome wiring harnesses. The robustness of this protocol extends its use to other automation and robotics applications. A common CAN communication mode is that an MCU+CAN transceiver+CAN protection circuit is arranged in a PCBA board, and MCU signals are externally connected and transmitted through the CAN transceiver.
However, with the great development and wide application of robotics, the number of MCUs used in a single PCBA is increasing, for example, the single PCBA is divided into 1 master MCU and 2 slave MCUs, so that the application requirements CAN be met, each MCU is equipped with a respective CAN transceiver and CAN protection circuit according to the conventional manner, the cost and volume of the circuit are increased, and the requirements of cost reduction and miniaturization cannot be met.
Disclosure of Invention
The invention aims to solve the problems that the prior PCBA comprising a plurality of MCU modules has high cost and cannot be miniaturized, and provides a multi-node CAN networking method.
In order to achieve the above object, the present invention adopts the following technical scheme:
the multi-node CAN networking method is characterized in that an on-board networking circuit is arranged on a circuit board and comprises an MCU module, a composite gate circuit, a CAN transceiver and a CAN protection circuit, the MCU module comprises n MCU modules, the composite gate circuit is formed by combining at least two AND gate devices, the data transmitting ports of the MCU are all connected with the input end of the composite gate circuit, the output end of the composite gate circuit is connected with the on-board data receiving port of the CAN transceiver, so that signals transmitted by the MCU are converted into differential signals through the composite gate circuit and transmitted to the CAN transceiver, the data receiving ports of the MCU modules are connected with the on-board data transmitting ports of the CAN transceiver in parallel, and the off-board data receiving ports and the off-board data transmitting ports of the CAN transceiver are connected with the CAN protection circuit and transmit data with an external system through the CAN protection circuit.
Compared with the prior art, the multi-node CAN networking method has the advantages that the in-board networking circuit is assembled on the PCBA, so that a plurality of MCU modules on the PCBA CAN send signals to an off-board system through the same CAN transceiver, and the multi-node sharing of the same CAN transceiver is realized. When the circuit is used, the MCU module transfers signals to the CAN transceiver through the composite gate circuit, and the CAN transceiver transfers signals to the CAN transceiver of an external system, so that the circuit design in the board CAN be simplified, the number of devices is reduced, and the circuit cost and the miniaturization design of the circuit board are reduced.
Further, the MCU module comprises a first MCU module, a second MCU module and a third MCU module, the composite gate circuit comprises a first AND gate device and a second AND gate device, the data transmission ports of the second MCU module and the third MCU module are respectively and electrically connected with the input end of the second AND gate device, the output end of the second AND gate device and the data transmission port of the first MCU module are respectively and electrically connected with the input end of the first AND gate device, and the output end of the first AND gate device is connected with the in-board data receiving port of the CAN transceiver. The scheme is a specific circuit design scheme that the MCU module is connected with the composite gate circuit, in the scheme, any MCU module sends out a low-level signal, and then the first AND gate device sends out the low-level signal to the CAN transceiver.
Furthermore, the MCU module obtains the bus use right through a bus priority arbitration mode, the CAN transceiver is provided with a readback module, and the MCU module receives the bus data outside the monitoring board and the data sent by the readback MCU through a readback module board.
Further, the MCU reset circuit also comprises a 3.3V power supply, wherein the 3.3V power supply is connected with a data transmission interface of the MCU module in parallel through a pull-up resistor so as to avoid signal misoperation caused by an uncertain level state brought by a high-resistance state of the interface in the MCU reset process.
Furthermore, matching resistors are connected in series between the data transmitting port of the MCU module and the input end of the composite gate circuit, between the data receiving port of the MCU module and the on-board data transmitting port of the CAN, and between the output end of the composite gate circuit and the on-board data receiving port of the CAN transceiver, and are used for impedance matching and reducing the steep degree of signal edges.
Further, the step of sending data by the MCU module includes:
transmitting the frame ID by bit; and reading the signal returned by the bus to judge whether the current frame ID belongs to the frame ID of the MCU, if so, judging that the bus use right is acquired, starting to transmit data, and if not, judging that the node with higher priority is transmitting data, stopping transmitting the frame ID, and monitoring and waiting.
Drawings
FIG. 1 is a schematic diagram of an on-board networking circuit 1;
FIG. 2 is a schematic diagram of the principle of the on-board networking circuit 2;
FIG. 3 is a schematic diagram of the principle of the on-board networking circuit 3;
fig. 4 is a flowchart of the operation of the on-board networking circuit.
Detailed Description
The following further describes the technical scheme of the invention according to the attached drawings:
referring to fig. 1-4, the invention discloses a multi-node CAN networking method, an inboard networking circuit is arranged on a circuit board, the inboard networking circuit comprises an MCU module, a composite gate circuit, a CAN transceiver and a CAN protection circuit, the MCU module comprises n MCU modules, the composite gate circuit is formed by combining at least two and gate devices, data transmitting ports of the MCUs are all connected with an input end of the composite gate circuit, an output end of the composite gate circuit is connected with an inboard data receiving port of the CAN transceiver, signals transmitted by the MCUs are converted into differential signals through the composite gate circuit and transmitted to the CAN transceiver, a data receiving port of the MCU is connected with an inboard data transmitting port of the CAN transceiver in parallel, and an outboard data receiving port and an outboard data transmitting port of the CAN transceiver are connected with the CAN protection circuit and transmit data with an external system through the CAN protection circuit.
In an embodiment, the MCU module includes a first MCU module, a second MCU module, and a third MCU module, the composite gate includes a first and gate device and a second and gate device, the data transmission ports of the second MCU module and the third MCU module are electrically connected to the input end of the second and gate device, the output end of the second and gate device is electrically connected to the data transmission port of the first MCU module and the input end of the first and gate device, and the output end of the first and gate device is connected to the data receiving port of the CAN transceiver. The scheme is a specific circuit design scheme that the MCU module is connected with the composite gate circuit, in the scheme, any MCU module sends out a low-level signal, and then the first AND gate device sends out the low-level signal to the CAN transceiver.
In an embodiment, the MCU module obtains the bus usage right through a bus priority arbitration mode, the CAN transceiver is provided with a readback module, and the MCU module receives the bus data outside the monitoring board and the data sent by the readback MCU through the readback module board.
In an embodiment, the on-board networking circuit further includes a 3.3V power supply, and the 3.3V power supply is connected in parallel with the data transmission interface of the MCU module through pull-up resistors (R9, R10, R11).
In an embodiment, matching resistors (R1, R2, R3, R4, R5, R6) are connected in series between the data transmitting port of the MCU module and the input end of the composite gate circuit, between the data receiving port of the MCU module and the in-board data transmitting port of the CAN, and between the output end of the composite gate circuit and the in-board data receiving port of the CAN transceiver.
In one embodiment, the CAN includes a circuit including an electrostatic discharge device ESD1, the ESD1 is electrically connected with the off-board data receiving port and the off-board data transmitting port of the CAN transceiver.
In one embodiment, the step of the MCU module transmitting data includes: transmitting the frame ID by bit; and reading the signal returned by the bus to judge whether the current frame ID belongs to the frame ID of the MCU, if so, judging that the bus use right is acquired, starting to transmit data, and if not, judging that the node with higher priority is transmitting data, stopping transmitting the frame ID, and monitoring and waiting.
The multi-node CAN networking method inside and outside the board of the invention is characterized in that the networking circuit inside the board is assembled on the PCBA board, so that a plurality of MCU modules on the PCBA board CAN transmit signals to the system outside the board through the same CAN transceiver, when the multi-node CAN networking method is used, the signals of each MCU are transmitted to the CAN transceiver through the composite gate circuit, and then the signals are transmitted to the CAN transceiver of the external system through the CAN transceiver, thus simplifying the circuit design inside the board, reducing the number of devices and being beneficial to reducing the circuit cost and the miniaturization design of the circuit board.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. Variations and modifications to the above would be obvious to persons skilled in the art to which the invention pertains from the foregoing description and teachings. Therefore, the invention is not limited to the specific embodiments disclosed and described above, but some modifications and changes of the invention should be also included in the scope of the claims of the invention. In addition, although specific terms are used in the present specification, these terms are for convenience of description only and do not limit the present invention in any way.
Claims (6)
1. A multi-node CAN networking method, comprising: the on-board networking circuit comprises an MCU module, a composite gate circuit, a CAN transceiver and a CAN protection circuit, wherein the MCU module comprises n MCU modules, the composite gate circuit is formed by combining at least two AND gate devices, the data transmitting ports of the MCU modules are all connected with the input end of the composite gate circuit, the output end of the composite gate circuit is connected with the on-board data receiving port of the CAN transceiver, so that signals transmitted by the MCU are converted into differential signals through the composite gate circuit and transmitted to the CAN transceiver, the data receiving port of the MCU is connected with the on-board data transmitting port of the CAN transceiver in parallel, and the off-board data receiving port and the off-board data transmitting port of the CAN transceiver are connected with the CAN protection circuit and transmit data with an external system through the CAN protection circuit.
2. The multi-node CAN networking method of claim 1, characterized by: the MCU module comprises a first MCU module, a second MCU module and a third MCU module, the composite gate circuit comprises a first AND gate device and a second AND gate device, the data transmission ports of the second MCU module and the third MCU module are respectively and electrically connected with the input end of the second AND gate device, the output end of the second AND gate device and the data transmission port of the first MCU module are respectively and electrically connected with the input end of the first AND gate device, and the output end of the first AND gate device is connected with the in-board data receiving port of the CAN transceiver.
3. The multi-node CAN networking method of claim 2, characterized by: the MCU module obtains the bus use right through a bus priority arbitration mode, the CAN transceiver is provided with a readback module, and the MCU module receives the bus data outside the monitoring board and the data sent by the readback MCU through the readback module board.
4. The multi-node CAN networking method of claim 3, characterized by: the on-board networking circuit further comprises a 3.3V power supply, and the 3.3V power supply is connected with a data transmission interface of the MCU module in parallel through a pull-up resistor.
5. The multi-node CAN networking method of claim 2, characterized by: matching resistors are connected in series between the data transmitting port of the MCU module and the input end of the composite gate circuit, between the data receiving port of the MCU module and the on-board data transmitting port of the CAN, and between the output end of the composite gate circuit and the on-board data receiving port of the CAN transceiver.
6. The multi-node CAN networking method of claim 5, characterized by: the step of sending data by the MCU module comprises the following steps:
transmitting the frame ID by bit; reading the signal returned by the bus to judge whether the current frame ID belongs to the frame ID of the MCU; if yes, judging that the bus use right is acquired, and starting to send data; if not, judging that the node with higher priority is currently transmitting data, stopping transmitting the frame ID and monitoring and waiting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311655384.6A CN117459348A (en) | 2023-12-05 | 2023-12-05 | Multi-node CAN networking method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311655384.6A CN117459348A (en) | 2023-12-05 | 2023-12-05 | Multi-node CAN networking method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117459348A true CN117459348A (en) | 2024-01-26 |
Family
ID=89595029
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311655384.6A Pending CN117459348A (en) | 2023-12-05 | 2023-12-05 | Multi-node CAN networking method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117459348A (en) |
-
2023
- 2023-12-05 CN CN202311655384.6A patent/CN117459348A/en active Pending
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