JP2004007104A - Control unit and control unit development apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To realize a highly reliable communication function related to communication by enabling a control unit development apparatus to have only to set a communication specification without the need for any description to an application program and for development of a program. <P>SOLUTION: A control unit includes a transmission protocol processing means and a reception protocol processing means to realize a highly reliable communication function related to communication and the control unit development apparatus generates a transmission protocol means and a reception protocol means depending on the communication specification. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a control unit connected to a network, and more particularly to a control unit development device that easily realizes highly reliable communication protocol processing and a control unit that is realized using the control unit development device.
[0002]
[Prior art]
When a message is transmitted and received over a network, a network controller that implements network communication by hardware and communication software that performs network communication using the network controller are used. When transmitting data stored in the application program, the data is subjected to transmission protocol processing and written to the network controller. In the case of reception, the message arriving at the network controller is processed by a reception protocol and stored in the application program. As described above, the transmission / reception protocol processing between the application program and the network controller when data is transmitted / received is processed using communication software. In the past, communication software was simply a network controller driver for driving a network controller.
[0003]
[Problems to be solved by the invention]
In the related art, since communication software is not supported, there is a problem that an application program developer needs to create an application program for each communication specification. Further, the application program developer has to create message data from the control data. Accordingly, it is an object of the present invention to provide a means by which an application program developer can easily realize one or both of a highly reliable communication protocol process and a message data generation process.
[0004]
[Means for Solving the Problems]
In order to achieve the above object, the present invention is configured to automatically execute a highly reliable communication processing protocol using a transmission / reception protocol.
[0005]
The specific configuration is as follows.
[0006]
A memory for storing the program,
A CPU for executing the program stored in the memory;
A network controller that is connected to the network, transmits a transmission message on the network, and receives a reception message from the network;
Has,
A control unit that transmits and receives messages using the network controller while executing the program stored in the memory with the CPU,
Application data storage means for storing application data generated or used by the application program;
Transmission data storage means for storing transmission data to be passed to the network controller for transmitting the message,
Transmission data updating means for reading application data stored in the application data storage means and updating transmission data stored in the transmission data storage means;
A transmission data protocol processing unit that reads transmission data stored in the transmission data storage unit, performs data conversion processing, and updates the transmission data stored in the transmission data storage unit;
Transmission protocol processing means for reading transmission data stored in the transmission data storage means, generating a transmission message for passing to the network controller, passing the transmission message to the network controller and transmitting a message,
Reception data storage means for storing reception data received by the network controller,
Receiving protocol processing means for inputting a received message received by the network controller to generate the received data, and storing the received data in the received data storage means;
Receiving application data updating means for reading the reception data stored in the reception data storage means and updating the application data stored in the application data storage means;
Confirming the content of the received data, received data protocol processing result storage means for storing the result,
A reception data protocol processing unit for reading the reception data, confirming the content of the reception data, and storing the reception data confirmation result in the reception data confirmation processing result storage unit;
A control unit having
The received application data updating means updates the application data stored in the application data storage means according to the received data confirmation result stored in the received data protocol processing result storage means.
[0007]
BEST MODE FOR CARRYING OUT THE INVENTION
Before starting the description of the embodiment, the above-described highly reliable communication protocol processing will be described below.
[0008]
When data stored in a register or a memory used by the communication software is temporarily destroyed or the data content changes for some reason, the data content destroyed by the transmission / reception protocol processing is transmitted / received.
[0009]
In addition, it is necessary to detect the non-arrival of a message due to a missing message or a failure of a transmission node.
[0010]
A checksum function, a message counter function, and a reception timeout function are provided to detect a failure due to such communication.
[0011]
The checksum function is to add a result of adding data to be transmitted according to a predetermined rule to the data. The checksum can detect garbled data on the receiving side.
[0012]
The message counter function has a counter value for each message, and changes the counter value in accordance with a predetermined rule each time a message is transmitted. The message counter can determine on the receiving side whether a message has been missed or the same message has been received.
[0013]
The reception time-out function is a function of monitoring that a message is received within a predetermined time from the previous reception time. With the reception timeout function, the receiving side can detect that some abnormality has occurred in the transmission unit or the network.
[0014]
At the outset, these functions are collectively referred to as highly reliable communication protocol processing.
[0015]
FIG. 1 shows a configuration of a distributed system in which a control unit according to an embodiment of the present invention is connected to a network. A plurality of control units 1a, 1b,. . . , 1n are connected by a network 2. The network of the present invention uses, for example, a CAN (Controller Area Network) described in ISO11898-1 and ISO11898-2. The control unit 1a includes a CPU 13, a memory 11, and a CAN controller 14, which are connected by a bus 12.
[0016]
As an example of the distributed system shown in FIG. 1, for example, as shown in FIG. 29, there is an inter-vehicle distance control system of an automobile 90a equipped with an inter-vehicle distance control function. The inter-vehicle distance control system includes a transmission control unit 1 b for controlling the transmission 901, a throttle control unit 1 e for controlling the throttle 902, an inter-vehicle distance and a relative speed with the preceding vehicle 90 b which are information from the radar 903, and a speed of the own vehicle. A radar control unit 1d for calculating an optimal torque from the above, an engine control unit 1a for controlling the engine 904, a brake control unit 1c for controlling the brake 905, a surrounding environment condition received from the communication device 906, for example, a shape of a gradient or a curve , An environmental information collection control unit 1f for collecting road friction coefficients and the like is connected by a network 2. For example, the torque value calculated by the radar control unit 1d is transmitted to the network 2, and each control unit that has received the torque value controls each actuator based on the torque. For example, if the torque is negative, the throttle control unit 1e closes the throttle and the brake control unit 1c applies a brake. The engine control unit 1a controls the engine 904 by receiving the throttle opening transmitted from the throttle control unit 1e. The transmission control unit 1b receives the gradient or curve shape and the road friction coefficient transmitted from the environmental information collection control unit 1f and receives the throttle opening transmitted from the throttle control unit 1e to control the transmission. I do. As described above, the inter-vehicle distance control system controls the inter-vehicle distance with the preceding vehicle based on the surrounding environment and the state of the own vehicle.
[0017]
Each control unit is connected by CAN, which is the network 2, and operates by communicating with other control units. The CAN controller 14 is connected via a network 2 to a CAN controller built in another control unit. The memory 11 stores an application program 101, a transmission data update unit 201, a reception application data update unit 301, a transmission data protocol processing unit 401, a reception data protocol processing unit 501, a transmission protocol processing unit 121, and a reception protocol processing unit 111. ing. The application program 101 has an application data storage unit 102 for storing application data updated or referred to by the application program. The transmission protocol processing means has transmission data storage means for storing transmission data to be written to the CAN controller 14. The reception protocol processing unit 111 has a reception data storage unit 112 that stores reception data received by the CAN controller 14. The transmission data updating means 201 has an update condition storage means 202 for storing conditions for updating transmission data. The reception application data updating means 301 has an update condition storage means 302 for storing conditions for updating application data. The reception data protocol processing means 501 has a reception data protocol processing result storage means 502 for storing a result processed by the reception data protocol processing means 501. The CPU 13 reads out a program stored in the memory 11 and executes a program process. The CAN controller 14 is hardware that transmits and receives messages with other control units via the network 2. The transmission protocol processing means is, for example, a CAN controller transmission driver that transmits a message using the CAN controller 14. The transmission data stored in the transmission data storage unit 122 stores data of an area corresponding to a data portion of 0 to 8 bytes constituting a CAN frame. The reception protocol processing unit 111 is, for example, a CAN controller reception driver that receives a message using the CAN controller 14. As the received data stored in the received data storage unit 112, data of an area corresponding to a data portion of 0 to 8 bytes constituting a CAN frame is stored.
[0018]
In the present embodiment, a message counter function, a checksum function, and a reception timeout function are supported as the high reliability functions for communication. The message counter function has a counter value for each message, and changes the counter value in accordance with a predetermined rule each time a message is transmitted. The message counter can determine on the receiving side whether a message has been missed or the same message has been received. In the present embodiment, the counter value is incremented each time the counter value is transmitted as a change. The checksum function is to add a result of adding data to be transmitted according to a predetermined rule to the data. The checksum can detect garbled data on the receiving side. In this embodiment, a method is adopted in which one byte is added as a checksum, ignoring carry of the addition result in byte units. The reception time-out function is a function of monitoring that a message is received within a predetermined time from the previous reception time. With the reception timeout function, the receiving side can detect that some abnormality has occurred in the transmission unit or the network. As means for the high reliability function, the transmission data protocol processing means 401 is realized for transmission, and the reception data protocol processing means 501 is realized for reception.
[0019]
FIG. 2 shows a control unit development device 500. The control unit development device 500 generates the transmission data updating unit 201, the reception application data updating unit 301, the transmission data protocol processing unit 401, and the reception data protocol processing unit 501 described in FIG. The control unit development device 500 includes a transmission / reception data / application data correspondence information registration unit 531, an attribute data related information registration unit 521, an activation information registration unit 571, a transmission data protocol processing template 541, a reception data protocol processing template 551, and a message transmission / reception. It has data correspondence information registration means 561.
[0020]
FIG. 3 shows a transmission data protocol processing template 541 and a reception data protocol processing template 551. The transmission data protocol processing template 541 has a message counter setting process 543 and a sum value setting process 542 for a checksum. The reception data protocol processing template 551 includes a message counter check processing 554, a checksum checksum processing 553, and a timeout monitoring processing 552.
[0021]
FIG. 4 shows the transmission data protocol processing means 401 and the reception data protocol processing means 501 shown in FIG. The transmission data protocol processing means 401 has a transmission process 403, a transmission cycle task process 411, an internal data ROM 441, and an internal data RAM 451. The reception data protocol processing means 501 has a reception processing 503, a reception cycle task processing 841, an internal data ROM 851, an internal data RAM 861, and a reception data protocol processing result storage means 502.
[0022]
FIGS. 5 and 10 show the message and transmission / reception data correspondence information registered by the message and transmission / reception data correspondence information registration means 561 shown in FIG. 2, respectively. In this embodiment, attention is paid to an engine control unit (Engine CU).
[0023]
The message and transmitted / received data correspondence information 562a shown in FIG. 5 have a message name of EngineMsg, an ID of 0x100, a data length of 8, a transmitting node of EngineCU, and a receiving node of ATCU. A plurality of receiving nodes can be registered. In the EngineCU, the message EngineMsg is a transmission message. Table 564a shows the correspondence between transmission / reception data areas and labels. The first byte of the CAN data area is defined as area 0, which means that area 0 corresponds to the label name engine_data0.
[0024]
On the other hand, the message and transmitted / received data correspondence information 562b shown in FIG. 10 have a message name of AtMsg, an ID of 0x200, a data length of 4, a transmitting node of AtCU, and a receiving node of EngineeringCU. In the EngineCU, the message AtMsg is a received message. The correspondence between the transmission / reception data area and the label is the same as in FIG.
[0025]
FIGS. 6 and 11 show the transmission / reception data and application data correspondence information registered by the transmission / reception data / application data correspondence information registration unit 531 shown in FIG.
[0026]
The transmission / reception data and application data correspondence information 532a shown in FIG. 6 are for the message EngineMsg. The data in the area of the label “engine_data0” corresponds to DATA0 of the application data. Note that the label name is a label in the table 564a shown in FIG.
[0027]
On the other hand, the transmission / reception data and application data correspondence information 532b shown in FIG. 11 are of the message AtMsg. The correspondence between labels and application data is the same as in FIG.
[0028]
FIGS. 7 and 12 show the boot information registered by the boot information registration means 571 shown in FIG.
[0029]
The activation information 572a shown in FIG. 7 is that of the message EngineMsg. A function that is activated when the message EngineMsg is received, a function that is activated when the message is transmitted, and a cycle that activates the transmission cycle task processing 411 or the reception cycle task processing 841 are registered. Since the EngineMsg is transmission, the function to be activated at the time of transmission is sendEngineMsg, and the period at which the transmission period task process 411 is activated is 10 ms.
[0030]
On the other hand, the activation information 572b shown in FIG. 12 is that of the message AtMsg. Since the message AtMsg is received, the function of activation at reception is receiveAtMsg, and the period at which the reception period task process 841 is activated is 10 ms.
[0031]
8 and 13 show the attribute data related information registered by the attribute data related information registration unit 521 shown in FIG.
[0032]
The attribute data related information 522a shown in FIG. 8 is that of the message EngineMsg. The data area where the checksum sum value is stored is engine_checksum, the data area where the message counter value is stored is engine_msgcounter, and the timeout value is 100 ms.
[0033]
On the other hand, the attribute data related information 522b shown in FIG. 13 is that of the message AtMsg. The data area where the checksum sum value is stored is at_checksum, the data area where the message counter value is stored is at_msgcounter, and the timeout value is 200 ms.
[0034]
9 and 14 show the internal data ROMs 441 and 851 and the internal data RAMs 451 and 861 shown in FIG.
[0035]
The internal data ROM 441a and the internal data RAM 451a shown in FIG. 9 are for the message EngineMSg. A timeout counter value 10 is stored in the internal data ROM 441a. This is a value calculated from the task cycle 10 ms registered in FIG. 7 and the timeout value 100 ms registered in FIG. That is, if there is no continuous reception of 10 times in the task of 10 ms, there is no reception of 100 ms, and a timeout occurs. The internal data RAM 451a stores a current message counter value and a timeout counter value. FIG. 9 shows a state immediately after the initialization. In this embodiment, since the transmission timeout function is not supported, the timeout counters of the internal data ROM 441a and the internal data RAM 451a may be deleted to reduce memory.
[0036]
The internal data ROM 851a and internal data RAM 861a shown in FIG. 14 are for the message AtMSg. A timeout counter value 20 is stored in the internal data ROM 851a. This is a value calculated from the task cycle 10 ms registered in FIG. 12 and the timeout value 200 ms registered in FIG. That is, if there is no continuous reception 20 times in a task of 10 ms, there is no reception for 200 ms, and a timeout occurs. The internal data RAM 451a stores a current message counter value and a timeout counter value. The example of FIG. 14 shows a state immediately after the initialization.
[0037]
FIG. 15 shows the update condition storage means 302 shown in FIG. The update condition 302b is for the message AtMsg. The update condition 302b is a condition that no message counter error, checksum error, or timeout error occurs. Note that the update condition of the update condition storage unit 202 shown in FIG. 1 is a flag that is set when the application program updates the transmission data.
[0038]
FIG. 16 shows the received data protocol processing result stored in the received data protocol processing result storage means 502 shown in FIG. The received data protocol processing result 502b is that of the message AtMsg. The presence / absence of a message counter, checksum, or timeout error is stored.
[0039]
FIG. 17 shows a message in the transmission data updating means 201 shown in FIG.
The processing contents of the transmission data update processing 201a in the case of EngineMsg are shown. In step 20101a, it is checked whether the update condition flag has been set (is not zero). The update condition is stored in the update condition storage unit 202 shown in FIG. 1, and is set by the application program 101 according to the update timing. If the update condition has been set, step 20102a is executed; otherwise, step 20114a is executed and the process ends. In step 20102a, according to the transmission / reception data and application data correspondence information 532a described in FIG. 6, the value stored in the area of engine_data0 of the transmission data storage unit 122 allocated for EngineMsg is updated to the value of the application data Data0. Hereinafter, in steps 20103a, 20104a, step 20106a, step 20107a, step 20108a, step 20110a, and step 20111a, the values stored in the transmission data storage unit 122 are updated as in step 20102a. In step 20112a, the update condition is reset (set to zero). In step 20113a, the transmission protocol processing shown in FIG. 1 is started, and the EngineMsg is transmitted. After the end of step 20113a, step 20114a is executed and the processing is ended.
[0040]
FIG. 18 shows the contents of the receiving application update processing 301b in the case of the message AtMsg in the receiving application data updating means 301 shown in FIG. In step 30101b, it is determined whether the update condition is true. If true, execute step 30102b; if false, execute step 30106b and end the process. In step 30102b, AtData0 of the application data storage unit 102 is updated to a value stored in the at_data0 area of the reception data storage unit 112 assigned to the message AtMsg according to the transmission / reception data and the application data correspondence information 532b described in FIG. . Step 30103b, step 30104b, and step 3105b also update the application data in the same manner as step 3102b. After the step 30105b is completed, the step 30106ba is executed, and the processing is terminated.
[0041]
FIG. 19 shows the contents of the message counter setting process 431 shown in FIG. In step 43101, the current message counter value is updated to a predetermined message counter area of the transmission data. In step 43102, the next message counter value is set. In step 43103, the process ends. The message counter setting process 431 will be described using the transmission message EngineMsg as an example. The internal data RAM 451a illustrated in FIG. 9 is used. In step 43101, the message counter value “0” is updated in the engine_msgcounter area of the transmission data storage unit 122. In step 43103, the next message counter value “1” is set in the message counter of the internal data RAM 451a.
[0042]
FIG. 20 shows the contents of the message counter check processing 554 shown in FIG. In step 55401, it is determined whether the message to be checked is in a receiving operation. If the receiving operation is being performed, step 55402 is executed. If the receiving operation is not being executed, step 55407 is executed. In step 55402, the message counter stored in the reception data storage unit 112 is compared with the expected value of the current message counter to check. In step 55403, if the comparison check is equal in step 55402, the result is OK, and step 55404 is executed. If the comparison checks are not equal, it is determined to be NG and step 55405 is executed. In step 55404, no error is stored in a predetermined message counter error area stored in the reception data protocol processing result storage means. In step 55405, an error is stored in a predetermined message counter error area stored in the reception data protocol processing result storage unit. In step 55406, the next message counter expected value is calculated. In step 55407, as in step 55404, no error is stored in a predetermined message counter error area stored in the received data protocol processing result storage unit. In step 55408, the expected value of the next message counter is calculated as in step 55406. After the end of Step 55406 and Step 55408, Step 55409 is executed and the process ends. The message counter check processing 554 will be described using the received message AtMsg as an example. In step 55402, the value of the at_msgcounter area of the reception data storage unit 112 is compared with the message counter value stored in the internal data RAM 451b. In steps 55404, 55405, and 55407, the result is stored in the message counter area of the received data protocol processing result 502b shown in FIG. In steps 55406 and 55408, the message counter value stored in the internal data RAM 451b is updated to the next value “1”.
[0043]
FIG. 21 shows the contents of the sum value setting processing 542 shown in FIG. In step 54201, zero is stored in the sum value storage area of the transmission data. In steps 54202 and 54203, transmission data is added by the data length in byte units. In step 54204, in step 54203, the sum value storage area of the transmission data is updated to the calculated sum value. In step 54205, the process ends. The sum value setting processing 542 will be described using the message EngineMsg as an example. The transmission data 122a1 shown in FIG. 27 indicates the value of the transmission data after the transmission data update processing 201a has been executed and the message counter setting processing 431 has been executed. In step 54201, 0 is written in the engine_checksum area of the transmission data 122a1. In steps 54202 and 54203, data values of a data length of 8 bytes are added. 0x00 + 0x01 + 0x02 + 0x03 + 0x00 + 0xF0 + 0xF5 + 0x01 = 0x1F0 and 1-byte data 0xF0 excluding the carry becomes the sum value. In step 54203, the sum value 0xF0 is written to the engine_checksum area. As a result, it becomes like transmission data 122a2.
[0044]
FIG. 22 shows the processing contents of the sum check processing 553 shown in FIG. In step 55301, the value stored in the sum value area of the received data storage unit 112 is saved. In step 55302, 0 is written to the sum value area of the received data storage unit 112. In steps 55303 and 55304, the received data is added in units of bytes corresponding to the data length, and byte data that ignores the leading digits is used as the sum value. In step 55305, the sum value saved in step 55301 is compared with the sum value obtained in steps 55303 and 55304. If they are equal, step 55306 is executed. If not equal, step 55307 is executed. In step 55306, 0 is set to the variable val. In step 55307, 1 is set to the variable val. After the step 55306 or the step 55307 ends, the step 55309 is executed. In step 55309, the sum value saved in step 55301 is stored in the original sum value area. In step 55308, val is returned and the processing ends. The sum check processing 553 will be described using the message AtMsg as an example. The case where the transmission data 112b is stored in the reception data storage unit 112 as shown in FIG. 28 will be described. In step 55301, the value “0xC1” stored in the sum value area is saved, and in step 55302, 0 is written in the sum value area. In steps 55303 and 55304, the data length is added by 4 bytes. 0xE0 + 0xE1 + 0x00 + 0x00 = 0x1C1 and the 1-byte data 0xC1 excluding the carry is used as the sum value. The sum value saved in step 55301 from step 55305 is compared with the sum value obtained in step 55303 and step 55304. Since both are equal to 0xC1, in step 55306 the variable val is set to 0. In step 55309, the saved sum value “0xC1” is written to the original sum value area. In step 55308, val is returned. In this case, "0" is returned.
[0045]
FIG. 23 shows the processing contents of the timeout monitoring processing 552 shown in FIG. In step 55201, it is checked whether the timeout monitoring is OK. If OK, step 55202 is executed, and if NG, 55209 is executed. In step 55202, the processing in step 55203 and subsequent steps is repeated for each message whose timeout has been monitored in the received message. In step 55203, it is checked whether the message is being received. If the receiving operation is being performed, step 55204 is executed. If the receiving operation is not being performed, step 55207 is executed. In step 55204, it is determined whether or not a timeout has occurred. If a timeout has occurred, step 55205 is executed. If not, step 55206 is executed. In step 55205, the timeout stored in the data protocol processing result storage unit 502 is set to an error. In step 55206, the timeout counter is updated. In step 55207, the timeout stored in the data protocol processing result storage means 502 is set without error (reset). In Step 55208, the timeout counter is reset. In step 55209, the processing in step 55210 and subsequent steps is repeated for each message whose timeout has been monitored in the received message. In step 55210, the timeout stored in the data protocol processing result storage means 502 is set without error (reset). In step 5521, the timeout counter is reset. In step 55212, the process ends. The timeout monitoring process 552 will be described using the message AtMsg as an example. If the reception is being performed with monitoring OK, step 55204 is executed. In step 55204, it is checked whether or not the timeout counter value of the internal data RAM 451b shown in FIG. 14 is "0".
“0” means that a timeout has occurred. In step 55205, if the timeout counter value of the internal data RAM 451b is "0", the timeout of the received data protocol processing result 502b shown in FIG. 16 is set to an error. In step 55026, the timeout counter value of the internal data RAM 451b is decremented. In step 55207, the timeout of the received data protocol processing result 502b shown in FIG. 16 is set without error. In step 55208, the timeout counter value of the internal data RAM 451b is updated to the timeout counter value of the internal data ROM 441b. In step 55202, if a received message whose timeout has been monitored in the message AtMsg, step 55203 and subsequent steps are executed for those received messages. Steps 55510 and 55211 operate in the same manner as steps 55202, 55207 and 55208, respectively.
[0046]
FIG. 24 shows the content of the reception process 503. In step 50301, a sum check process 553 is started to determine whether there is a checksum error. In step 50302, it is checked whether the return value is “0” based on the checksum error determination checked in step 50301. If the return value is "0", there is no error, and step 50303 is executed. If the return value is not "0", it is an error, and step 50304 is executed. In step 50303, the checksum stored in the data protocol processing result storage means 502 is set without error (reset). In step 50304, the checksum stored in the data protocol processing result storage means 502 is set to an error. In step 50305, the message counter check processing 554 is started to check the message counter. At step 50306, the receiving operation flag is set to indicate that the corresponding message is receiving. In step 50307, the process ends. The reception process 503 shown in FIG. 24 is a case where the checksum function and the message counter function are used. Steps 50301, 50302, 50303, and 50304 are unnecessary for a message that does not use the checksum function. Also, for a message that does not use the message counter function, step 50305 is unnecessary. The reception process 503 generates, for each message, a checksum function and a message counter function as shown in the attribute data related information 522b shown in FIG. By doing so, extra processing can be omitted, and there is an effect of reducing memory consumption and processing time. The reception process 503 will be described using the message AtMsg as an example. The reception process 503 corresponds to receiveAtMsg of the activation information 572b illustrated in FIG. In step 50301, a sum check process of the received data is performed in a sum check process 553. If OK, in step 50303, no error is set in the checksum of the received data protocol processing result 502b shown in FIG. If it is NG, in step 50304, an error is set in the checksum of the received data protocol processing result 502b. In step 50305, the message counter check processing 554 sets the message counter of the received data protocol processing result 502b.
[0047]
FIG. 25 shows the processing content of the reception cycle task processing 841 shown in FIG. In step 54102, the timeout monitoring process 552 shown in FIG. 23 is started. In step 54103, the process ends. In the control unit EngineCU, since the reception cycle task is 10 ms, the reception cycle task processing 841 is started at a cycle of 10 ms.
[0048]
FIG. 26 shows the contents of the process 403 at the time of transmission. In step 40301, a sum value setting process 542 shown in FIG. 21 is started. In step 40302, the message counter setting process 431 shown in FIG. 19 is started. In step 40303, the process ends. The transmission process 403 is a case where the checksum function and the message counter function are used. Step 40301 is unnecessary for a message that does not use the checksum function. Also, for a message that does not use the message counter function, step 40302 is unnecessary. The transmission process 403 generates, for each message, a checksum function and a message counter function as shown in the attribute data related information 522a shown in FIG. By doing so, extra processing can be omitted, and there is an effect of reducing memory consumption and processing time. The transmission process 403 will be described using the message EngineMsg as an example. The transmission process 403 corresponds to sendEngineMsg of the activation information 572a described in FIG. In step 40301, a sum value is set in the sum value area engine_checksamu of the transmission data storage unit 122 in a sum value setting process 542. In step 40302, a message counter is set in the message counter area engine_msgcounter of the transmission data storage unit 122 by the message counter setting process 431.
[0049]
The transmission protocol processing means 121 shown in FIG. 1 has means for storing an ID, a data length, and transmission data for each message to be transmitted. When transmitting a message, the transmission protocol processing means 121 stores the ID, the data length, and the transmission data in the CAN controller 14. Update the register and transmit. Further, if necessary, it has a function of activating a predetermined process before updating a register corresponding to transmission data of the CAN controller 14. For example, in the case of the message EngineMsg, the transmission start function sendEngineMsg of the start information 572a shown in FIG. 7 is started.
[0050]
The reception protocol processing unit 111 shown in FIG. 1 has a unit for storing an ID, a data length, and received data for each message to be received. When a message is received, the received data corresponding to the received message ID is CAN. The data is updated to the data of the register corresponding to the received data stored in the controller 14. Further, if necessary, it has a function of activating a predetermined process in synchronization with the timing at which the message is received. For example, in the case of the message AtMsg, the reception activation function receiveAtMsg of the activation information 572b illustrated in FIG. 12 is activated.
[0051]
Other embodiments (1)
In one embodiment of the present invention, the transmission data update unit 201, the reception application data update unit 301, the transmission data protocol processing unit 401, and the reception data protocol processing unit 501 are generated by the control unit development device 500. It may not be generated by the device 500. In this case, the transmission data update unit 201, the reception application data update unit 301, the transmission data protocol processing unit 401, and the reception data protocol processing unit 501 need to be generated by other units, but do not affect the application program.
[0052]
Other embodiments (2)
In one embodiment of the present invention and the other embodiment (1), the transmission data update unit 201 and the reception application data update unit 301 determine the correspondence between the application data and the transmission data or the reception data by using the transmission / reception data and the application data correspondence information 532. Although the processing for updating the transmission data or the reception application data is performed according to the attachment, the processing may be performed in the application program. In this case, since the application program can freely write data update processing such as update timing, there is an effect that the degree of freedom of processing is increased.
[0053]
Other embodiments (3)
In one embodiment of the present invention and the other embodiments (1) and (2), the update condition storing means 302 of the received application data stores the update condition, but sets a storage area in which the update condition determination result is stored. May be. In this case, the application program developer can implement the application data update process only by updating the update condition in the update condition storage unit 302.
[0054]
Other embodiments (4)
The control unit development device according to one embodiment of the present invention and the other embodiments (2) and (3) is configured such that the communication protocol generation device that generates the transmission protocol processing unit 121 and the reception protocol processing unit 111 generates a communication protocol. It has a means for cooperating with the generation device, and has a function of exchanging information. Thereby, the setting work of the control unit development device can be reduced.
[0055]
Other embodiments (5)
In one embodiment of the present invention and other embodiments (1), (2), (3), and (4), the transmission data protocol processing means 401 and the reception data protocol processing means 501 may not be provided. In this case, the transmission data update unit 201 and the reception application data update unit 301 can realize the application data update process only by the application program developer updating the update conditions in the update condition storage unit 202 and the update condition storage unit 302. .
[0056]
Other embodiments (6)
In one embodiment of the present invention and other embodiments (1), (2), (3) and (4), the transmission data protocol processing means 401 and the reception data protocol processing means 501 may have a CRC function. In this case, it is possible to detect that the received data has been destroyed.
[0057]
Other embodiments (7)
In one embodiment of the present invention and other embodiments (1), (2), (3), (4), and (6), the transmission data protocol processing means 401 performs encryption processing, and the reception data protocol processing means 501 performs decryption processing. Good. In this case, it is possible to detect that the communication data that has reached the received data has been tampered with, and to prevent the received application data stored in the received application data from being updated with the tampered data.
[0058]
The common effects of the above embodiments are as follows.
[0059]
The application program developer does not need to write communication countermeasure functions, checksum functions, reception timeout monitoring functions, and other communication-related high-reliability functions in the application program simply by setting communication specifications in the control unit development device. And it can be realized without developing a program. Also, the update processing of the transmission data for transmitting the application data and the reception application data update processing of passing the received data to the application program can be performed by setting the communication specifications in the control unit development device and not writing in the application program. It can be realized well and without program development.
[0060]
The features common to the present embodiment are as follows in a nutshell.
[0061]
The task is to easily realize highly reliable functions related to communication processing, and it has transmission protocol processing means and reception protocol processing means for realizing high reliability functions related to communication. With the configuration generated by the control unit development device in response, the application program developer can set the high-reliability communication functions related to communication in the application program simply by setting communication specifications in the control unit development device. It can be realized well and without program development.
[0062]
The effects specific to each embodiment are as follows.
[0063]
According to the other embodiment (1), the application program developer does not need to write high reliability functions related to communication such as a message counter function, a checksum function, and a reception timeout monitoring function in the application program. Also, the update processing of the transmission data for transmitting the application data and the reception application data update processing of passing the received data to the application program need not be written in the application program.
[0064]
According to another embodiment (2), the application program developer simply sets communication specifications in the control unit development device for high reliability functions related to communication such as a message counter function, a checksum function, and a reception timeout monitoring function. Therefore, it can be realized without writing in an application program and without developing a program.
[0065]
According to the other embodiment (3), the reception application data updating process of passing the received data to the application program can be realized by writing only the result of the update condition in the application program.
[0066]
According to the other embodiment (4), the already set information can be reused, so that the setting work can be reduced.
[0067]
According to the other embodiment (5), the application program developer can implement the application data update process only by updating the update condition in the update condition storage unit 202 or the update condition storage unit 302.
[0068]
According to the other embodiment (6), it is possible to detect that the received data is destroyed.
[0069]
According to the other embodiment (7), it is possible to detect that the communication data that has reached the received data has been tampered with, and to prevent the received application data stored in the received application data from being updated with the tampered data. Can be.
[0070]
Embodiments of the present invention are listed below.
[0071]
(Embodiment 1)
The control unit according to any one of claims 1 to 10,
The transmission data protocol processing means is a transmission data protocol processing program generated by the control unit development device according to claim 11.
A control unit, characterized in that:
[0072]
(Embodiment 2)
In the control unit according to claim 2, claim 3, claim 5, claim 6, claim 7, claim 8, claim 9, and claim 10,
The reception data protocol processing means is a reception data protocol processing program generated by the control unit development device according to claim 12.
A control unit, characterized in that:
[0073]
(Embodiment 3)
In the control unit according to claim 1, claim 3, claim 4, claim 6, claim 7, claim 8, claim 9, claim 10, and claim 15,
The transmission data update processing means is a transmission data update processing program generated by the control unit development device according to claim 13.
A control unit, characterized in that:
[0074]
(Embodiment 4)
In the control unit according to claim 2, claim 3, claim 5, claim 6, claim 7, claim 8, claim 9, claim 10, and claim 16,
The reception application data update processing means is a reception application data update processing program generated by the control unit development device according to claim 14.
A control unit, characterized in that:
[0075]
(Embodiment 5)
Claim 1, Claim 2, Claim 3, Claim 4, Claim 5, Claim 6, Claim 7, Claim 8, Claim 9, Claim 10, Claim 15, Claim 16, Claim The control unit according to claim 17 or claim 18,
The control unit, wherein the control unit is an automobile control unit.
[0076]
(Embodiment 6)
In a distributed system in which a plurality of control units are connected to a network and the control units perform processing in parallel with each other via the network,
The control unit may be any one of the first, second, third, fourth, fifth, sixth, seventh, eighth, ninth, ninth, tenth, tenth, and fifteenth aspects. A distributed system comprising the control unit according to any one of claims 16, 17, 18, and 19.
[0077]
【The invention's effect】
According to the present invention, the reliable communication protocol processing and the message data generation processing by the program developer are simplified.
[Brief description of the drawings]
FIG. 1 is a configuration diagram of a distributed system in which control units according to an embodiment of the present invention are connected to a network.
FIG. 2 is a configuration diagram of a control unit development device that generates a transmission data update unit 201, a reception application data update unit 301, a transmission data protocol processing unit 401, and a reception data protocol processing unit 501.
FIG. 3 is a configuration diagram of a transmission data protocol processing template and a reception data protocol processing template.
FIG. 4 is a configuration diagram of a transmission data protocol process and a reception data protocol.
FIG. 5 shows a message in which a transmission message EngineMsg is registered in the message and transmission / reception data correspondence information registration means 561 and transmission / reception data correspondence information.
FIG. 6 shows transmission / reception data and application data correspondence information in which a transmission message EngineMsg is registered in the transmission / reception data / application data correspondence information registration unit 531.
FIG. 7 shows activation information in which a transmission message EngiMsg of the control unit EngineCU is registered by the activation information registration means 571.
8 is attribute data related information in which a transmission message EngineMsg is registered by attribute data related information registration means 521. FIG.
FIG. 9 is an example of a transmission message EngimeMsg of the internal data ROM 441 and the internal data RAM 451;
FIG. 10 shows a message in which a received message AtMsg is registered in the message and transmitted / received data correspondence information registration means 561, and transmitted / received data correspondence information.
FIG. 11 shows transmission / reception data and application data correspondence information in which a received message AtMsg has been registered in the transmission / reception data / application data correspondence information registration means 531.
FIG. 12 shows start information in which a start message registration unit 571 has registered a received message AtMsg of the control unit EngineCU.
FIG. 13 shows attribute data related information in which a received message AtMsg is registered by attribute data related information registration means 521.
14 is an example of a received message AtMsg in the internal data ROM 851 and the internal data RAM 861 shown in FIG.
15 is an example of a received message AtMsg of the update condition storage means 302. FIG.
FIG. 16 shows a received data protocol processing result of the received message AtMsg stored in the received data protocol processing result storage means 502;
FIG. 17 shows transmission data update processing contents in the case of a message EngineMsg in the transmission data updating means 201.
FIG. 18 shows the content of a reception application update process in the case of a message AtMsg in the reception application data update means 301.
FIG. 19 shows the content of a message counter setting process.
FIG. 20 shows message counter check processing contents.
FIG. 21 shows sum value setting contents.
FIG. 22 shows the contents of a sum check process.
FIG. 23 shows the content of a timeout monitoring process.
FIG. 24 shows processing contents at the time of reception.
FIG. 25 shows the content of a reception cycle task process.
FIG. 26 shows processing contents at the time of transmission.
FIG. 27 is a diagram illustrating updating of a transmission data value in a message transmission process.
FIG. 28 is a diagram showing updating of an application data value in a message receiving process.
FIG. 29 is an inter-vehicle distance control system equipped with an inter-vehicle distance control function.
[Explanation of symbols]
1a, 1b,. . . .. 1n control unit, 2 network, 11 memory, 12 bus, 13 CPU, 14 CAN controller, 90a, 90b automobile, 101 application program, 102 application data storage means, 111 reception protocol processing Means, 112: received data storage means, 121: transmission protocol processing means, 122: transmission data storage means, 201: transmission data update means, 201a: transmission data update processing, 202, 302: update condition storage means, 301: reception application Data update means, 301b ... Reception application data update processing, 302b ... Update conditions, 401 ... Transmission data protocol processing means, 403 ... Transmission processing, 411 ... Transmission cycle task processing, 421,542 ... Sum value setting processing, 431,543 … Me 441, 851 ... internal data ROM, 451, 861 ... internal data RAM, 500 ... control unit development device, 501 ... reception data protocol processing means, 502 ... reception data protocol processing result storage means, 502b ... reception data protocol Processing result, 503: Reception processing, 521: Attribute data related information registration means, 522a, 522b: Attribute data related information, 531 ... Transmission / reception data and application data correspondence information registration means, 532a, 532b: Transmission / reception data and application data correspondence information , 541: transmission data protocol processing template, 551: reception data protocol processing template, 552: timeout monitoring processing, 553: sum check processing, 554: message counter check processing, 561 ... Message and transmitted / received data correspondence information registration means, 562a, 562b ... message and transmission / reception data correspondence information, 571 ... start information registration means, 572a, 572b ... start information, 841 ... reception period task processing, 901 ... transmission, 902 ... throttle, 903: radar, 904: engine, 905: brake, 906: communication equipment.

Claims (15)

A memory for storing the program,
A CPU for executing the program stored in the memory;
A network controller connected to the network and transmitting a transmission message on the network,
A control unit that transmits a message using the network controller while executing the program stored in the memory by the CPU;
Application data storage means for storing application data generated or used by the application program;
Transmission data storage means for storing transmission data to be passed to the network controller for transmitting the message,
Transmission data updating means for reading application data stored in the application data storage means and updating transmission data stored in the transmission data storage means;
A transmission data protocol processing unit that reads transmission data stored in the transmission data storage unit, performs data conversion processing, and updates the transmission data stored in the transmission data storage unit;
Transmission protocol processing means for reading transmission data stored in the transmission data storage means, generating a transmission message for passing to the network controller, and passing the transmission message to the network controller to transmit the message. A control unit characterized by the following. A memory for storing the program,
A CPU for executing the program stored in the memory;
A network controller connected to the network and receiving a received message on the network,
A control unit that receives a message using the network controller while executing the program stored in the memory by the CPU,
Application data storage means for storing application data generated or used by the application program;
Reception data storage means for storing reception data received by the network controller,
Receiving protocol processing means for inputting a received message received by the network controller to generate the received data, and storing the received data in the received data storage means;
Receiving application data updating means for reading the reception data stored in the reception data storage means and updating the application data stored in the application data storage means;
Confirming the content of the received data, received data protocol processing result storage means for storing the result,
Reading the reception data, confirming the content of the reception data, and having a reception data protocol processing means for storing the reception data confirmation result in the reception data confirmation processing result storage means,
The control unit, wherein the receiving application data updating means updates the application data stored in the application data storing means according to the received data confirmation result stored in the received data protocol processing result storing means. A memory for storing the program,
A CPU for executing the program stored in the memory;
A network controller connected to the network and transmitting the transmission message on the network, and receiving the reception message from the network;
A control unit that transmits and receives messages using the network controller while executing the program stored in the memory with the CPU,
Application data storage means for storing application data generated or used by the application program;
Transmission data storage means for storing transmission data to be passed to the network controller for transmitting the message,
Transmission data updating means for reading application data stored in the application data storage means and updating transmission data stored in the transmission data storage means;
A transmission data protocol processing unit that reads transmission data stored in the transmission data storage unit, performs data conversion processing, and updates the transmission data stored in the transmission data storage unit;
Transmission protocol processing means for reading transmission data stored in the transmission data storage means, generating a transmission message for passing to the network controller, passing the transmission message to the network controller and transmitting a message,
Reception data storage means for storing reception data received by the network controller,
Receiving protocol processing means for inputting a received message received by the network controller to generate the received data, and storing the received data in the received data storage means;
Receiving application data updating means for reading the reception data stored in the reception data storage means and updating the application data stored in the application data storage means;
Confirming the content of the received data, received data protocol processing result storage means for storing the result,
Reading the reception data, confirming the content of the reception data, and having a reception data protocol processing means for storing the reception data confirmation result in the reception data confirmation processing result storage means,
The control unit, wherein the receiving application data updating means updates the application data stored in the application data storing means according to the received data confirmation result stored in the received data protocol processing result storing means. The control unit according to claim 1, wherein
An update condition storage unit storing a condition determination result for updating the transmission data,
The transmission data updating unit reads application data stored in the application data storage unit and updates transmission data stored in the transmission data storage unit according to an update condition stored in the update condition storage unit. A control unit characterized by the following. The control unit according to claim 2 or 3,
An update condition storage unit that stores a condition for updating the application data stored in the application data storage unit,
The reception application data updating unit reads the reception data stored in the reception data storage unit and updates the application data stored in the application data storage unit according to the update condition stored in the update condition storage unit. A control unit, characterized in that: The control unit according to any one of claims 1 to 5, wherein the network is a CAN (Controller Area Network).
The network controller described above is a CAN controller,
The transmission data storage means described above stores data of 8 bytes or less of CAN,
The above-mentioned received data storage means stores CAN data of 8 bytes or less. The control unit according to any one of claims 1 to 6, wherein the transmission data protocol unit reads out transmission data stored in the transmission data storage unit and stores message transmission information obtained by executing processing, The above-mentioned reception data protocol processing means has a message arrival confirmation processing for confirming message transmission information stored in the reception data and obtained by processing by the transmission data protocol means, and detecting non-arrival of a message. A control unit, characterized in that: The control unit according to any one of claims 1 to 7, wherein the transmission data protocol unit reads out the transmission data stored in the transmission data storage unit and executes a process to transmit the non-destructive information to the transmission data. The received data protocol processing means, which is stored in the storage means, checks the non-destructive information obtained by processing the transmission data protocol means, which is stored in the received data, and is stored in the transmission data. A control unit having a non-destructive inspection processing function for ensuring that transmitted data is stored in the received data storage means without being destroyed. The control unit according to claim 7, wherein the message transmission information is a message counter that updates a value one by one each time the message transmission information is transmitted. 9. The control unit according to claim 8, wherein the non-destructive information is a checksum value of a checksum. A memory for storing the program,
A CPU for executing the program stored in the memory;
A network controller connected to the network and transmitting a transmission message on the network,
A control unit that executes a message transmission process using the network controller while executing the program stored in the memory with the CPU,
An application data storage unit that stores application data generated or used by the application program;
A transmission data storage unit that stores transmission data to be passed to the network controller for transmitting the message;
A transmission data update program that reads application data stored in the application data storage unit and updates transmission data stored in the transmission data storage unit;
A transmission data protocol processing program for reading transmission data stored in the transmission data storage unit, performing data conversion processing, and updating the transmission data stored in the transmission data storage unit;
A transmission protocol processing program that reads transmission data stored in the transmission data storage unit, generates a transmission message to be passed to the network controller, and passes the transmission message to the network controller to transmit a message. In the control unit development device for generating the transmission data protocol processing program of the unit,
Attribute data related information registration means for registering a transmission data conversion processing method for each message, and registering a correspondence between the transmission data conversion processing method and data stored in the transmission data storage means,
Transmission data protocol processing template means prepared for each transmission data conversion processing method,
A message for registering the correspondence between the message and the transmission data and transmission / reception data correspondence information registration means,
Having activation information registration means for registering the transmission data protocol processing means for each message,
Said transmission data update processing template means,
Attribute data related information registered from the attribute data related information registration means,
Correspondence information between the message and the transmission data registered in the transmission / reception data correspondence information registration means,
A control unit development apparatus, which automatically generates the transmission data protocol processing program from start information registered by start information registration means. A memory for storing the program,
A CPU for executing the program stored in the memory;
A network controller connected to the network and receiving a received message on the network,
A control unit that executes a message reception process using the network controller while executing the program stored in the memory by the CPU;
An application data storage unit that stores application data generated or used by the application program;
A reception data storage unit that stores reception data received by the network controller,
A reception protocol processing program that receives the message received by the network controller, generates the reception data, and stores the reception data in the reception data storage unit.
A reception application data update program for reading the reception data stored in the reception data storage unit and updating the application data stored in the application data storage unit;
Confirm the content of the received data, a received data protocol processing result storage unit to store the result,
A reception data protocol processing program for reading the reception data, confirming the content of the reception data, and storing the reception data confirmation result in the reception data confirmation processing result storage unit;
The reception application data update program is a reception data protocol processing program of a control unit that updates application data stored in the application data storage unit according to the reception data confirmation result stored in the reception data protocol processing result storage unit. In the control unit development device that generates
Attribute data related information registering means for registering a received data confirmation processing method, and registering attribute data related information indicating a correspondence between the received data confirmation processing method and data stored in the received data storage unit,
A reception data protocol processing template means prepared for each reception data confirmation processing method,
A message and a transmission / reception data correspondence information registration unit for registering a correspondence between a message and reception data stored in the reception data unit,
Having activation information registration means for registering the reception data protocol processing program for each message,
Receiving data protocol processing template means prepared for each of the communication data protocol processing attributes,
Attribute data related information registered by the attribute data related information registering means,
Correspondence information between the message and the reception data registered in the transmission / reception data correspondence information registration means,
A control unit development apparatus, wherein the received data protocol processing program is automatically generated from the start information registered by the start information registration means. A memory for storing the program,
A CPU for executing the program stored in the memory;
A network controller connected to the network and transmitting a transmission message on the network,
A control unit that executes a message transmission process using the network controller while executing the program stored in the memory by the CPU; and an application data storage unit that stores application data generated or used by an application program. ,
A transmission data storage unit that stores transmission data to be passed to the network controller for transmitting the message;
A transmission data update program that reads application data stored in the application data storage unit and updates transmission data stored in the transmission data storage unit;
A transmission data protocol processing program for reading transmission data stored in the transmission data storage unit, performing data conversion processing, and updating the transmission data stored in the transmission data storage unit;
A transmission protocol processing program that reads transmission data stored in the transmission data storage unit, generates a transmission message to be passed to the network controller, and passes the transmission message to the network controller to transmit a message. In the control unit development device for generating the transmission data update processing program of the unit,
Registering the correspondence between the application data stored in the application data storage unit and the transmission data stored in the transmission data storage unit, transmission and reception data and application data correspondence information registration means,
Having a message and transmission / reception data correspondence information registration means for registering the correspondence between the message and the transmission data stored in the transmission data storage unit,
The transmission / reception data and application data correspondence information registered by the transmission / reception data and application data correspondence information registration unit,
A control unit development apparatus, wherein the transmission data update processing program is automatically generated from the message, the message registered by the transmission / reception data correspondence information registration means, and the transmission / reception data correspondence information. A memory for storing the program,
A CPU for executing the program stored in the memory;
A network controller connected to the network and receiving a received message on the network,
A control unit that executes a message reception process using the network controller while executing the program stored in the memory by the CPU;
An application data storage unit that stores application data generated or used by the application program;
A reception data storage unit that stores reception data received by the network controller,
A reception protocol processing program that receives the message received by the network controller, generates the reception data, and stores the reception data in the reception data storage unit.
A reception application data update program for reading the reception data stored in the reception data storage unit and updating the application data stored in the application data storage unit;
Confirm the content of the received data, a received data protocol processing result storage unit to store the result,
A reception data protocol processing program for reading the reception data, confirming the content of the reception data, and storing the reception data confirmation result in the reception data confirmation processing result storage unit;
The reception application data updating program of the control unit that updates application data stored in the application data storage unit according to the reception data confirmation result stored in the reception data protocol processing result storage unit. In a control unit development device that generates a program,
Registering the correspondence between the application data stored in the application data storage unit and the reception data stored in the reception data storage unit, transmission and reception data and application data correspondence information registration means,
Having a message and transmission / reception data correspondence information registration means for registering the correspondence between the message and the reception data stored in the reception data storage unit,
The transmission / reception data and application data correspondence information registered by the transmission / reception data and application data correspondence information registration unit,
A control unit development apparatus, wherein the reception application data update processing program is automatically generated from the message, the message registered by the transmission / reception data correspondence information registration means, and the transmission / reception data correspondence information. It has transmission protocol processing means and reception protocol processing means for realizing a highly reliable communication protocol relating to communication, and the transmission protocol means and the reception protocol means are generated by a control unit development device according to communication specifications. Data processing device.

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