CN1420638A - Deep sea long distance digital communication system based on CAN bus - Google Patents
Deep sea long distance digital communication system based on CAN bus Download PDFInfo
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Abstract
A digital communication system under deep sea and with long distance based on CAN bus consists of a main computer node on the water, consisting of number zero node communication module and main control computer and a terminal node under the water, consisting of number one node communication module in the same structure with number zero node and towed body controller under the water. The data is exchanged through serial communication interface Rs-232 with in node internal and the node is hanged up to two ends of myriametre armoured cable through CAN bus. The present invention relies on CAN bus on-site technique to realize the digital communication under deep sea in long distance with no relay and no digital-analog conversion.
Description
Technical field
The present invention relates to the deep-sea long-distance cabled digital communications field, is a kind of deep-sea long-distance digital communication system based on the CAN bus.
Background technology
In recent years, along with improving constantly of human being's production power, to the also increase day by day of demand of resource, the resource of land is day by day exhausted, and extremely rich in natural resources is being contained in wide boundless ocean, and therefore, marine resources have become one of countries in the world competition focal point.The exploitation ocean, particularly ocean bottoms will overcome a lot of difficulties--and the depth of water, high undersea hydrostatic pressures, water-bed light transmittance are little, regional area high temperature, can not have communication relays or the like, are to develop the problem that the ocean at first will be faced but how to solve the inter-agency long haul communication of the water surface and ocean floor.Common digital signal communication distance has only tens meters; Electromagnetic wave is decayed very fast in water, is not suitable for subsurface communication; The power that sonar system requires is big, and the delay of transmission signals is very serious, can not satisfy the real-time of signal; Utilize the communication of power line carrier frequency, need carry out number-Mo twice, analog-to-digital conversion, not only cost height, and transmission rate is slow, can not satisfy the transmission of big data quantity.
Summary of the invention
The purpose of this invention is to provide a kind of deep-sea long-distance digital communication system based on CAN (controller local area network) bus, it has the length of high reliability apart from the digital signal communication system, to satisfy the communicating requirement in the deep-sea detecting.
The technical solution used in the present invention is as follows:
Whole network by a host node waterborne and one under water terminal node form, host node waterborne is made up of No. 0 node communication module and main control system, and terminal node is made up of identical with No. 0 node communication module structure No. 1 node communication module and underwater towed-body controller under water.
It comprises four major parts such as central processing unit, serial communication driver module, CAN bus driver module, information storage module No. 0 node communication module.Central processing unit adopts digital signal processing chip TMS320LF2407 at a high speed, has a hardware multiplier among this kind of DSP, and deal with data is very capable, and itself has SCI serial communication and CAN bus communication controller; Serial communication module is made up of serial communication chip for driving MAX202 and serial communication interface, and it is connected with the serial communication port pin of central processing unit; CAN bus driver module is made up of CAN controller on the central processing unit and PAC82C250 CAN communication drivers chip, is connected on the physical medium-myriametre armoured cable of CAN bus; Information storage module mainly comprises memory chip AT28C256 and logic controller chip GAL16V8, is connected on the address and data/address bus of central processing unit.
The hardware configuration of No. 1 node communication module and No. 0 node communication module is identical, and just software is different.
The physical medium of myriametre armoured cable as the CAN bus adopted in telecommunication, and the resistivity of this kind cable is little, and compressive resistance is very high, is adapted at using in deep-sea and the long haul communication.
The present invention compares the useful effect that has with background technology: in the seabed, deep-sea, under hostile environments such as, regional area high temperature little, underwater topography complexity, underwater installation power supply difficulty, message transmission distance as deep water high pressure, water-bed light transmittance, can overcome above-mentioned difficulties well, realize the requirement of the non-relay digital communication of the long distance in seabed, deep-sea, digital-to-analogue conversion need not be carried out, very high traffic rate and communication reliability can be guaranteed.
Description of drawings
Fig. 1: system configuration principle schematic of the present invention;
Fig. 2: CAN bus terminals mode figure of the present invention;
Fig. 3: communication node module diagram of the present invention;
Fig. 4: serial port level matching circuit of the present invention;
Fig. 5: CAN driver module level matching circuit of the present invention;
Fig. 6: communication node detailed circuit diagram of the present invention.
Embodiment
As shown in Figure 1, whole network by a host node waterborne and one under water terminal node form, host node waterborne is made up of No. 0 node communication module and industrial computer, terminal node is made up of No. 1 node communication module and underwater towed-body controller under water, intra-node is by serial communication RS-232 swap data, and node is articulated on the myriametre armoured cable by the CAN driving interface.
The CAN bus adopts differential level transmissions signal, the myriametre armoured cable is made up of inner core and outer core, respectively as high level (CAN_H) and low level (CAN_L) line of CAN, the two ends of myriametre armouring cable with terminal resistance with inner core and outside core couple together, as shown in Figure 2, host node waterborne and under water terminal node be connected across the two ends of myriametre armouring cable respectively, so just constituted a complete CAN communication line.
As Fig. 3, shown in Figure 6, No. 0 the node communication module comprises, central processing unit 1, serial communication driver module 2, CAN bus driver module 3, information storage module 4.Central processing unit 1 mainly is to adopt digital signal processing chip TMS320LF2407 DSP at a high speed, has a hardware multiplier in this kind of central processing unit, and deal with data is very capable, and itself has SCI serial communication and CAN bus communication controller; Serial communication module 2 is made up of serial communication chip for driving MAX202 and serial communication interface, and it is connected with the serial communication port pin of central processing unit; CAN bus driver module 3 is made up of CAN controller on the DSP and PAC82C250CAN communication drivers chip, is connected on the physical medium one myriametre armoured cable of CAN bus; Information storage module 4 mainly comprises memory chip AT28C256 and logic controller chip GAL16V8, is connected on the address and data/address bus of central processing unit.
Because central processing unit chip TMS320LF2407 DSP adopts the 3.3V power voltage supply, the I/O level of pin is the TTL logic level of 3.3V, and the RS-232 serial communication logic level of standard is ± 12V, so will realize serial communication through signal level conversion, chip for driving, native system adopts level conversion and the chip for driving of serial communication chip for driving MAX202 chip as the serial communication interface of central processing unit chip.Because the supply power voltage of central processing unit chip TMS320LF2407 DSP is 3.3V, so and the chip of the 5V powered operation of periphery when being connected, relate to the logic level matching problem.Level matching circuit between central processing unit chip TMS320LF2407 DSP and the serial communication chip for driving MAX202 as shown in Figure 4, the 3.3V logic level signal that the serial communication port output pin SCITXD of central processing unit chip TMS320LF2407 DSP goes up output is connected the signal process resistance R 2 of the serial communication signal output pin T20 output of serial communication chip for driving MAX202 through behind transistors diodes D1 and the pull-up resistor R1 with the serial communication signal input pin T2I of serial communication chip for driving MAX202, the dividing potential drop of R3 is connected with central processing unit chip TMS320LF2407 serial communication port input pin SCIRXD.
The CAN bus adopts differential level mode transmission signals, and the CAN controller is output as common level voltage on the central processing unit, so will adopt PAC82C250 level match chip.So also being 5V, the supply power voltage of CAN chip for driving also to could link to each other with central processing unit chip TMS320LF240 DSP through level match, its circuit diagram as shown in Figure 5, the 3.3V logic level signal that the CAN controller output pin CANTX of central processing unit chip TMS320LF2407 DSP goes up output is connected the signal process resistance R 5 of the signal output pin RXD output of CAN chip for driving PAC82C250 through behind transistors diodes D2 and the pull-up resistor R4 with the input pin TXD of CAN chip for driving PAC52C250 chip, the dividing potential drop of R6 is connected with central processing unit chip TMS320LF2407DSP CAN input pin CANRX.
Information is being the transmission over networks of physical medium with the cable, not only to overcome the difficulty of communication distance, and more prior be to overcome that signal on the cable disturbs and the reliability of decay guarantee information, therefore will be with being with function of shielding and the low cable transmission of resistivity, in addition, if Chang distance communication so is with common coaxial cable, its deadweight just is enough to it is broken, so native system is selected the physical medium of myriametre armoured cable as the CAN bus communication for use.The measures necessary of on hardware, taking, comprise destination address, source address, check code or the like in the packet of software, carry out the parity check sum error checking and correction at the packet that receives at every turn.Adopted information passback pattern in addition, promptly node is whenever received a packets of information and all packets of information is postbacked to host node under water, whether host node this packets of information of verification again is consistent with the packets of information of its transmission, correctly sets up as the consistent link that shows, can carry out next step order; As inconsistent, or do not receive the packets of information that node under water postbacks, then host node will be retransmitted this instruction; Repeating transmission surpasses three times or long-time no response shows that then this node on the network breaks down, and carries out alarm.
In addition, in order to guarantee the real-time of signal transmission, the time of the data occupancy bus on the bus must lack, so signal decomposition will be become short frame signal in software, advise 8 bytes of every frame, like this with TMSLF2407 DSP on CAN controller mailbox just mate.So signal takies the just shortening greatly of time of bus, can avoid unnecessary race hazard, can also improve the signal anti-jamming capacity.
Second mailbox on node 0 communication module is made as receive mode, and identifier is made as 2447H, and the 3rd mailbox is made as send mode, and identifier is made as 2448H; Second mailbox on node 1 communication module is made as receive mode, and identifier is made as 2448H, and the 3rd mailbox is made as send mode, and identifier is made as 2447H.Node 0 communication module sends data and finishes by the 3rd mailbox, and after the 3rd mailbox sent to data on the bus, second mailbox of node 1 communication module can receive these data because its identifier is identical with the 3rd mailbox of node 0 communication module.Otherwise, node 1 communication module sends data and finishes by the 3rd mailbox, after the 3rd mailbox sends to data on the bus, second mailbox of node 0 communication module is because its identifier is identical with the 3rd mailbox of node 1 communication module, also these data be can receive, the water surface and the information mutual communication of two nodes under water so just finished.
The two ends of two differential signal lines of CAN bus will link to each other with terminal resistance, and as shown in Figure 2, the standard resistance of terminal resistance is R
0=120 Ω.But it is very long owing to communication line in native system, the resistance of telecommunication cable has just reached about R=30 Ω, compare and to have regarded lead as again with terminal resistance, so Tong Xin reliability will reduce greatly, make it to continue and the cable coupling so increase the terminal resistance of CAN, recommend the resistance of terminal resistance to be:
R
0The concrete communication process of=100R
1) to dry end communication module issue communication command, this order comprises the control command of towed body and information reading order etc. the deck control system by serial ports;
2) the dry end communication module is translated as the short frame ordering of fieldbus with it after the order that receives the deck control system, drives the back through carrier frequency one by one and sends to the green end communication module.
3) the green end communication module is after the information of receiving the dry end communication module, and each frame all sends response to dry end, if the echo message that dry end is received is incorrect, then this frame is with retransmitted.
4) the green end communication module is after receiving all short frame orderings corresponding to this communication command, and it is translated into order with the communication of towed body control system, sends to the towed body control system by serial ports.
5) the towed body control system produces corresponding action after receiving order, and produces corresponding response message according to the requirement of communication command, sends to the green end communication module.
6) the green end communication module is translated as the short frame ordering of fieldbus with it after the order that receives the towed body control system, drives the back through carrier frequency one by one and sends to the dry end communication module.
7) the dry end communication module is after the information of receiving the green end communication module, and each frame all sends response to green end, if the echo message that green end is received is incorrect, then this frame is with retransmitted.
8) the dry end communication module is after receiving all short frame orderings corresponding to this response message, and it is translated into order with deck control system communication, sends to the deck control system by serial ports.
9) the deck control system checks this response message that inerrancy is arranged after receiving response message, if there be not wrong the generation, then finishes this communication process.If find wrongly, then retransmit this information, or according to judging another information of forwarding.
10) if still fail to receive response message after the certain time-delay of deck control system process, then communication command is retransmitted.
11) if retransmit and still fail for three times to obtain to reply, think that then catastrophe failure has appearred in communication system in official hour, warning requires to handle.
Claims (2)
1. deep-sea long-distance digital communication system based on the CAN bus, it is characterized in that: whole system by a host node waterborne and one under water terminal node form, host node waterborne is made up of No. 0 node communication module and main control system, terminal node is made up of identical with No. 0 node communication module No. 1 node communication module and underwater towed-body controller under water, intra-node is by serial communication RS-232 swap data, and node is articulated in the two ends of myriametre armoured cable by the CAN bus interface.
2. the deep-sea long-distance digital communication system based on the CAN bus according to claim 1, it is characterized in that: it comprises said node communication module, central processing unit (1), serial communication driver module (2), CAN bus driver module (3), information storage module (4), central processing unit (1) are to adopt digital signal processing chip TMS320LF2407 DSP at a high speed; Serial communication module (2) is made up of serial communication chip for driving MAX202 and serial communication interface, and it is connected with the serial communication port pin of central processing unit; CAN bus driver module (3) is made up of CAN controller on the central processing unit and PAC82C250 CAN communication drivers chip, is connected the physical medium of CAN bus--on the myriametre armoured cable; Information storage module (4) comprises memory chip AT28C256 and logic controller chip GAL16V8, is connected on the address and data/address bus of central processing unit (1).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB021544751A CN1187907C (en) | 2002-12-17 | 2002-12-17 | Deep sea long distance digital communication system based on CAN bus |
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| CNB021544751A CN1187907C (en) | 2002-12-17 | 2002-12-17 | Deep sea long distance digital communication system based on CAN bus |
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| CN1420638A true CN1420638A (en) | 2003-05-28 |
| CN1187907C CN1187907C (en) | 2005-02-02 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1326358C (en) * | 2004-06-14 | 2007-07-11 | 上海三菱电梯有限公司 | CAN repeater |
| CN100372284C (en) * | 2005-12-21 | 2008-02-27 | 浙江大学 | Multipath controller LAN bus physical repeater |
| CN100399740C (en) * | 2005-01-27 | 2008-07-02 | 浙江大学 | Controller local net bus physical relay |
| CN101902394A (en) * | 2010-06-04 | 2010-12-01 | 杭州电子科技大学 | Signal deep-sea long-distance transmission method based on serial communication |
| CN101677280B (en) * | 2008-09-17 | 2011-10-05 | 中国科学院自动化研究所 | Optical fiber field bus communication system |
| CN103546368A (en) * | 2013-11-08 | 2014-01-29 | 长沙钢为网络科技有限公司 | Data transmission method, device, instant messaging method and system |
| CN108831139A (en) * | 2018-06-04 | 2018-11-16 | 杭州电子科技大学 | Paralic environment monitoring data Transmission system based on more cableless communications |
-
2002
- 2002-12-17 CN CNB021544751A patent/CN1187907C/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1326358C (en) * | 2004-06-14 | 2007-07-11 | 上海三菱电梯有限公司 | CAN repeater |
| CN100399740C (en) * | 2005-01-27 | 2008-07-02 | 浙江大学 | Controller local net bus physical relay |
| CN100372284C (en) * | 2005-12-21 | 2008-02-27 | 浙江大学 | Multipath controller LAN bus physical repeater |
| CN101677280B (en) * | 2008-09-17 | 2011-10-05 | 中国科学院自动化研究所 | Optical fiber field bus communication system |
| CN101902394A (en) * | 2010-06-04 | 2010-12-01 | 杭州电子科技大学 | Signal deep-sea long-distance transmission method based on serial communication |
| CN101902394B (en) * | 2010-06-04 | 2012-07-25 | 杭州电子科技大学 | Signal deep-sea long-distance transmission method based on serial communication |
| CN103546368A (en) * | 2013-11-08 | 2014-01-29 | 长沙钢为网络科技有限公司 | Data transmission method, device, instant messaging method and system |
| CN103546368B (en) * | 2013-11-08 | 2017-01-04 | 浙江钢为网络科技有限公司 | Data transmission method, device, instant communication method and system |
| CN108831139A (en) * | 2018-06-04 | 2018-11-16 | 杭州电子科技大学 | Paralic environment monitoring data Transmission system based on more cableless communications |
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| CN1187907C (en) | 2005-02-02 |
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