CN1792063A - 时间触发的通信系统以及用于同步启动双信道网络的方法 - Google Patents

时间触发的通信系统以及用于同步启动双信道网络的方法 Download PDF

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CN1792063A
CN1792063A CNA2004800138340A CN200480013834A CN1792063A CN 1792063 A CN1792063 A CN 1792063A CN A2004800138340 A CNA2004800138340 A CN A2004800138340A CN 200480013834 A CN200480013834 A CN 200480013834A CN 1792063 A CN1792063 A CN 1792063A
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communication
controlers
communication system
cold start
channel
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CN100466579C (zh
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J·昂格曼恩
P·富尔曼恩
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Koninklijke Philips NV
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Koninklijke Philips Electronics NV
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Abstract

一种在所有情况下都具有用于两条信道(A，B)中的每一条信道的一个通信控制器(2，6)的双信道网络。为了确保两条信道(A，B)以时间匹配的方式运作，经由外部或芯片上的接口(1a，1b)而对当前状态(“就绪”，“中止”)进行交换。当且仅当这两个通信控制器都处于“就绪”状态时，冷启动操作才会得以实施。

Description

时间触发的通信系统以及用于同步启动双信道网络的方法
本发明涉及包含两条信道以及至少两个节点的网络或通信系统。特别地，本发明涉及时间触发的通信系统。
由单个通信控制器(CC)控制两条信道的常规结构是很容易出现差错的，由此，通信控制器中的单独差错或完全故障都会导致通信出现故障或导致到这两条信道的总线通信无效。在没有附加减错措施的情况下，单个有故障的通信控制器由于故障的传输而能够阻碍这两条信道的通信(所谓的混串音(babbling idiot))。
在与安全性相关的应用中，数据是采用双信道方法传送的，由此可以借助冗余度来确保发送了两次的数据到达接收方至少一次，并且在那里得到正确处理。如上所述，由于访问两条信道的单个通信控制器有可能遭遇完全故障，因此这种通信控制器是不能达到这种可靠性等级的。
在与安全性相关的双信道网络中，同一数据会在两条信道上传送，主机则对一致性进行检查，由此，数据通信同步应该具有决定性的重要意义。就此而论，其中术语“同步”来表示在两条信道上数据传输完全同时发生或者其时间偏移处于某个时间窗口以内。由于通信控制器依靠的是用于每一条信道的数据总线的相同时钟生成器，因此可以在时间上达到一致。
通信控制器主要包括控制器主机接口、协议引擎以及时钟生成器。
典型的容错和时间触发网络包括与通信节点相连的两条信道。这些点的每一个节都包括总线驱动器、通信控制器、主机，最后如有必要还会包括总线监护设备。
总线驱动器将通信控制器提供的比特和字节传送到与之相连的信道，并且依照正确的顺序来为通信控制器提供其在信道上接收的信息。在容错网络中，通信控制器与两条信道相连并且将数据提供给主机，此外它还接收来自主机的数据，并且按照正确顺序将接收数据装配成帧，以及将所述帧提供给总线驱动器。
时间触发或时间控制表示的是将时间切割成周期性循环。这些循环的每一个都包括多个分段。每一个网络节点则根据自身内置的时钟生成器来确定新循环的开始。至少有一个分段被分成了固定数目的时隙。每一个时隙只分配给一个通信控制器并且只有这个通信控制器才有权执行传送。循环中的其它分段则可用于动态配置或其它目的。
在一种配置设置中，规定了时隙以及相关联的通信控制器。具有独立配置数据集合的可选总线监护器则只能在这些时隙期间在总线上执行传送操作。
主机包含数据源和数据宿，它通常不参与总线协议活动。
通信系统由单个节点启动，这种节点即为所谓的冷启动节点。可以通过配置来选择这个节点，或者如果有多个节点可以用作冷启动节点，那么也可以通过应用那些最终只保留一个节点的算法来选择节点。选定的冷启动节点的通信控制器必须侦听这两条信道，以及同时向这两条信道发送用于冷启动的所有数据。在通信控制器内部，只有用于执行冷启动的单独的控制逻辑电路才可用于这两条信道。
每一个节点都会侦听这两条信道。如果节点接收到表明开始通信的特定帧，那么它会接管所观测的传输时间表并且将其集成到自身系统中。
举例来说，这里描述的用于启动通信系统的系统对应的是在1999年7月21日由网址为http：//www.ttech.com的TT TechComputertechnik AG发布的“TTP/C Specification”第0.5版中的第0.1版；以及200年4月由网址为www.flexray.com的FlexRayConsortium发表的“FlexRay Requirements Specification”第2.0.2版。
本发明的一个目的是提供一种如起始段落所述的时间触发的双信道网络，其中该网络在容错方面已经得到了进一步的发展。本发明的另一个目的是提供一种能够同步冷启动起始段落所述类型的时间触发的双信道网络的方法。
这个目的是依照本发明并由权利要求1中所述的时间触发的通信系统实现的。其中所述的单信道结构是指在双信道网络的时间控制的通信系统中的一个或多个节点上，由指定给信道的通信控制器来驱动这两条信道中的每一条信道。如果在一个节点上有两个通信控制器并行运作，也就是说，在每种情况下，为两条信道的其中之一指定了一个通信控制器，在所述信道上传送由接收方进行比较的冗余信息，那么，由于无法确保这两个通信控制器的本地时钟同步，因此必须以时间一致的方式来传送数据。出于这个原因，依照本发明，一旦启动传输系统，一个通信控制器的状态将会被传送到另一个通信控制器，由此启动一条数据总线，如果必要的话，则根据另一个通信控制器而将其再次停止。在依照本发明的通信系统中，故障防护将会得到提高，但是，用于两条信道的单个冷启动节点则被两个分离的冷启动节点所取代。本发明描述了这两个冷启动节点如何在执行冷启动处理期间达成“一致”，由此确保所述冷启动基本上在两条信道上同时进行的。
这两个通信控制器具有可进行不同配置的用于产生启动定时器的装置。当冷启动节点希望执行启动操作时，该冷启动节点将会开启一个启动定时器。在这个时段中，它会侦听相关信道以及信道内部的接口。
优选地，这两个通信控制器包含用于接收启动信号或中止信号的装置。该信号是根据参数产生的，并且该信号指示节点应该如何运作。
依照本发明的一个实施例，这两个通信控制器布置在公用芯片上，并且接口也被集成在该芯片上。由此提供了只需要安装和电接触一个外壳的优点。
依照本发明的另一个实施例，这两个通信控制器均布置在它们自己的芯片上，并且接口布置在外部。结果，省略故障域“公用芯片”。举例来说，在出现过电压故障的情况下，这两个芯片中的一个芯片有可能未被损坏。由此，网络会在一个信道上运行。此外，这两个芯片中的其中一个芯片的故障通常不会导致因被称为“混串音”的现象而引起的两个信道都出现故障。
本发明的目的还可以通过权利要求7中所述的方法来解决。由于每一个通信控制器都会用消息将其状态告知其它通信控制器，因此这两个冷启动节点可以在冷启动操作的开始时达到准“一致”。
一旦用于执行冷启动操作的所有条件全都适合所论述的冷启动节点，就会产生一个就绪信号，一旦所论述的冷启动节点出现故障，就会产生一个中止信号。例如，这样的故障可以是信道噪声或表明另一个节点正在执行或已经执行冷启动操作的指示。
依照一个优选实施例，将连续地或者至少在某个足够短的时间间隔上比较通信控制器的状态。这些时间间隔是由冷启动的最大持续时间确定的，并且这些时间间隔总计只是这个持续时间的一小部分。这样可以确保考虑到参数的变化。
优选地，依照本发明的双信道网络是在车辆控制中使用的，其中所述网络被用于控制与安全性相关的处理。
参考下文描述的一个或多个实施例中可以清楚了解本发明的这些和其它方面，并且参考下文描述的一个或多个实施例来阐述本发明的这些和其它方面。
在附图中：
图1示出了具有外部接口的单信道结构的实例，
图2示出了具有集成在芯片上的接口的单信道结构的实例，
图3示出了在第一条件组合情况下同步启动的时间图，
图4示出了在第二条件组合情况下同步启动的时间图，
图5示出了在第三条件组合情况下同步启动的时间图。
图1示出了具有外部接口1a的单信道结构的实例。第一通信控制器2包括至少一个协议引擎3以及介于通信控制器2与主机5之间的接口4。第一通信控制器2在双信道网络的信道A上执行发送和接收，其中在这里并未更详细地示出该信道A。
第二通信控制器6包括至少一个协议引擎7以及介于通信控制器6与主机5之间的接口8。第二通信控制器6在双信道网络的信道B上执行发送和接收，其中在这里并未更详细地示出该信道B。
第一和第二通信控制器2、6分别布置在分离的第一和第二芯片9、10上。本地的信道间通信是经由外部接口1a进行的。与双信道结构的常规通信控制器相比，图1所示实例呈现出该常规通信控制器的整整两倍。所述实例具有如下优点：如果一个芯片出现故障，那么另一个芯片未损伤的可能性很大，由此这两个通信控制器中至少还有一个是正确工作的。
图2示出在芯片上集成了接口1b的单信道结构实例。第一通信控制器2包括至少一个协议引擎3以及介于通信控制器2与主机5之间的接口4。所述第一通信控制器2在双信道网络中的信道A上执行发送和接收，其中在这里并未更详细地示出所述信道A。
第二通信控制器6包括至少一个协议引擎7以及介于通信控制器6与主机5之间的接口8。所述第二通信控制器6在双信道网络中的信道B上执行发送和接收操作，其中在这里并未更详细地示出该信道B。
第一与第二通信控制器2、6全都布置在一个公用芯片11上。本地的信道间通信是经由集成在这个芯片11上的接口1b进行的。与双信道结构中的常规通信控制器相比，图2所示实例减少了重复。所述实例具有只需安装一个外壳的优点。
图3示出了在第一条件组合情况下同步启动操作的时间图。左纵轴A1涉及的是第一通信控制器2，右纵轴A2涉及的是第二通信控制器6。这两个通信控制器2、6都包含了用于产生启动定时器的装置。第一条件组合涉及的是通信控制器在不同时刻打开启动定时器之后接收启动信号的情况。为了确保这两个通信控制器以相对同步的方式执行由启动信号所引发的启动操作，这两个信道将会进行连接。这是通过如下实现的：一旦接收到启动信号，那么每一个通信控制器都产生状态信号“就绪”并将该信号发送另一个通信控制器，此外，所述通信控制器还会检查是否接收到来自另一个通信控制器的状态信号“就绪”。这两个通信控制器都包含用于产生、发送、接收和存储状态信号的恰当装置。一旦每一个通信控制器具有关于另一个通信控制器的“就绪”状态的信息，那么它们都会执行启动操作。实质上，时间偏移仅仅对应的是在传输“就绪”状态信号期间经过的时间。
就此而论，“执行启动操作”指的是两个节点都能够执行冷启动，其中举例来说，网络冷启动是通过发送同步帧(也称为Sync帧)来执行的。例如，在TTP或Flexray技术中，“启动信号”是由(或是“向”，参见德语文本)相应通信控制器对通信系统执行冷启动的请求。
图4示出了第二条件组合的同步启动的时间图。左纵轴A1涉及的是第一通信控制器2，右纵轴A2涉及的是第二通信控制器6。这两个通信控制器2、6都包含了用于产生启动定时器的装置。第二条件组合涉及的是这样一种情况，其中通信控制器的其中一个(图中是第一通信控制器)首先接收启动信号，并且在发送了“就绪”状态信息之后接收到中止信号。另一个通信控制器则在其启动定时器内已经接收到了启动信号以及“就绪”状态信号，由此已经开始执行启动操作。有利的是，这些参数是连续地或者至少在某个时间间隔上被检查的。由此，状态的变化同样得到了处理。在这里所示的条件组合的情况下，首先接收启动信号的通信控制器还会在较后阶段接收到中止信号。经由信道内部接口，当前“中止”状态将会被消息传递到其它通信控制器。连续检查这些条件将会使另一个通信控制器的变化状态被考虑，由此已经开始启动操作的通信控制器将会导致这个操作中止。一旦这两个通信控制器全都再次处于“就绪”状态，那么启动操作将会重新启动。
就此而论，“中止信号”意味着执行启动操作的条件不利或者不再有利。例如在TTP或Flexray技术中说明了这些条件。
图5示出了在第三条件组合情况下同步启动的时间图，在这个实例中，即使两条信道都处于启动操作中，也还是必须确保单个信道故障导致另一个信道停止，由此确保在较后阶段，当它们都处于“就绪”状态时，它们能够相对同时的启动。这样则可以提供相对同时的操作。为了能够这样，这两个通信控制器连续地或者至少在特定时间间隔上检查相关的其它通信控制器的状态。
借助于这里描述的时间触发的通信系统，可以提高与安全性相关的网络的可靠性。

Claims (19)

1.一种时间触发的通信系统，该系统包括至少两条信道(A，B)以及至少“冷启动节点”类型的第一和第二节点，其特征在于：
第一通信控制器被指定给第一信道(A)，并且第二通信控制器被指定给第二信道(B)，
第一和第二通信控制器均包括一个本地时钟，所述本地时钟是相互独立的，
在第一通信控制器与第二通信控制器之间布置了用于信道间通信的接口(1a，1b)，
这两个通信控制器都具有用于产生、发送、接收和存储状态信号(“就绪”，“中止”)的装置，以及
这两个通信控制器(2，6)只有都处于“就绪”状态时才执行启动操作。
2.如权利要求1所述的时间触发的通信系统，其特征在于：这两个本地时钟中的每一个都是由另一个振荡器脉冲产生的。
3.如权利要求1或2所述的时间触发的通信系统，其特征在于：这两个通信控制器(2，6)都包括可进行不同配置的用于产生启动定时器的装置。
4.如权利要求1～3中任何一个权利要求所述的时间触发的通信系统，其特征在于：这两个通信控制器(2，6)都包括用于接收启动信号或中止信号的装置。
5.如权利要求1～4(？)中任何一个权利要求所述的时间触发的通信系统，其特征在于：这两个通信控制器(2，6)布置在单个芯片(11)上，并且接口(1b)也被集成在这个芯片(11)上。
6.如权利要求1～4中任何一个权利要求所述的时间触发的通信系统，其特征在于：这两个通信控制器(2，6)都布置在它们自己的芯片(9，10)上，并且接口(1a)布置在外部。
7.一种用于在时间触发的通信系统中，尤其是权利要求1～6中任何一个权利要求所述的通信系统中执行同步冷启动的方法，包括以下步骤：
根据参数在每一个通信控制器(2，6)中产生状态信号，
经由接口(1a，1b)将状态信号传送到相关的其它通信控制器(2，6)，
每一个通信控制器(2，6)将它们自己的状态与相关的其它通信控制器(2，6)的状态相比较，以及
如果在这两个通信控制器(2，6)处于“就绪”状态时，就执行冷启动。
8.如权利要求7所述的方法，其特征在于：如果对所论述的冷启动节点来说，用于执行冷启动的所有条件都存在，则产生就绪信号，如果在相关的冷启动节点中出现故障，则产生中止信号。
9.如权利要求7或8所述的方法，其特征在于：这些状态是连续地或者至少在某个时间间隔上进行比较的。
10.一种如权利要求1～5中任何一个权利要求所述的时间触发的通信系统在车辆控制中的应用。
11.一种用于时间触发的通信系统的设备，该通信系统包括至少两条信道(A，B)以及至少两个“冷启动节点”类型的节点，其特征在于该设备包括：
具有指定给第一信道(A)的独立本地时钟的第一通信控制器(2)；
具有指定给第二信道(B)的独立本地时钟的第二通信控制器(6)；
用于信道间通信的接口(1a，1b)，该接口布置在两个通信控制器(2，6)之间，以及
用于产生、发送、接收和存储状态信号(“就绪”，“中止”)的装置。
12.如权利要求11所述的设备，其特征在于：这两个独立本地时钟中的每一个都是由另一个振荡器脉冲产生的。
13.如权利要求11或12所述的设备，其特征在于：它的两个通信控制器(2，6)包括可进行不同配置的用于产生启动定时器的装置。
14.如权利要求11～13中的任何一个权利要求所述的设备，其特征在于：两个通信控制器(2，6)都包括用于接收启动信号或中止信号的装置。
15.如权利要求11～14中的任何一个权利要求所述的设备，其特征在于：它包括布置了通信控制器(2，6)并且集成了接口(1b)的芯片(11)。
16.如权利要求11～14中的任何一个权利要求所述的设备，其特征在于：在各种情况下，通信控制器(2，6)布置在它们自己的芯片(9，10)上，并且接口(1a)布置在其外部。
17.如权利要求11～16中的任何一个权利要求所述的设备，其特征在于该设备包括：
根据参数在各个通信控制器(2，6)中产生状态信号的装置；
经由接口(1a，1b)将状态信号传送给相关的其它通信控制器(2，6)的装置；
用于比较两个通信控制器(2，6)的状态的装置；以及
用于执行冷启动的装置。
18.一种车辆控制器，包含如权利要求11～17中的任何一个权利要求所述的设备。
19.一种程序，该程序由处理器运行并且包含指令，所述指令用于实施一种如权利要求7～9中任何一个权利要求所述的在时间触发的通信系统中执行同步冷启动的方法。
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CN103856383A (zh) * 2012-11-28 2014-06-11 罗伯特·博世有限公司 用于提供和传输信息的方法
CN103856383B (zh) * 2012-11-28 2019-10-15 罗伯特·博世有限公司 用于提供和传输信息的方法
CN109600187A (zh) * 2018-11-28 2019-04-09 山东航天电子技术研究所 一种时间触发统一网络传输端系统调度方法及装置
CN110149260A (zh) * 2019-05-09 2019-08-20 中国航空工业集团公司西安航空计算技术研究所 一种时间触发总线集群启动和重启方法及装置
CN110149260B (zh) * 2019-05-09 2022-03-15 中国航空工业集团公司西安航空计算技术研究所 一种时间触发总线集群启动和重启方法及装置

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US7474625B2 (en) 2009-01-06
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