JP2020024637A - Electronic control device - Google Patents

Abstract

To provide, concerning microcomputers receiving data while sending/receiving all data stored in a data table amongst a plurality of microcomputers without being intervened by CPUs, an electronic control device capable of figuring out completion of receiving all data.SOLUTION: A send/receive section in a sender microcomputer 20 sends all data stored in a send data table 21 without being intervened by a CPU28 once sending processing of data to be sent starts. The data to be sent includes determination data for helping a receiver microcomputer 30 determine whether or not reception of all data stored in the send data table 21 of the sender microcomputer 20 has completed. The receiver microcomputer 30 determines whether or not the reception of all data has completed based on the determination data.SELECTED DRAWING: Figure 4

Description

  The present invention relates to an electronic control device including a plurality of microcomputers.

  For example, in Patent Literature 1, an electronic control unit (ECU) includes a main microcomputer, a sub-microcomputer, and an input / output control driver IC, and the main microcomputer, the sub-microcomputer, and the input / output control driver IC mutually perform chip select. It describes that SPI (Serial Peripheral Interface) communication which is a clock synchronous serial bus communication having a signal line is performed.

JP 2012-34375 A

  For example, as described in Patent Literature 1, in recent years, ECUs mounted on automobiles are required to have sophisticated and complicated control functions in order to cope with exhaust gas regulations and improve fuel efficiency. There is a tendency. In order to respond to such a demand, it is conceivable that a plurality of microcomputers are built in the ECU, data communication is performed between the plurality of microcomputers, and the plurality of microcomputers execute a control function in cooperation. However, in order for a plurality of microcomputers to execute a control function in a coordinated manner, a large amount of data must be simultaneously loaded between the plurality of microcomputers without imposing a load on a central processing unit (CPU) of each microcomputer as much as possible. It is desired that communication can be performed.

  Therefore, a data table capable of storing a large amount of data is provided for each of the plurality of microcomputers, and when data to be transmitted is stored in the data table, all data stored in the data table can be used without intervention by the CPU, for example. Transmission and reception by a transmission / reception unit such as SIPI (serial interprocessor interface) may be considered.

  However, in the above case, the microcomputer that transmits the data can know that all the data has been transmitted from the completion of reading out all the data stored in the data table, but the microcomputer that receives the data does not. , It is not possible to know when all data has been received. If it is not possible to grasp the completion of the reception of all data, the microcomputer that received the data cannot start processing using the received data, for example, or cannot start transmission even if there is data to be transmitted. Such a problem arises.

  The present invention has been made in view of the above points, and in a microcomputer that receives data while performing transmission and reception of all data stored in a data table between a plurality of microcomputers without intervention by a CPU, An object of the present invention is to provide an electronic control device capable of grasping completion of reception of all data.

In order to achieve the above object, an electronic control unit (10) according to the present invention includes a plurality of microcomputers (20, 30),
Multiple microcomputers, each
An arithmetic processing unit (28);
A data table (21, 32) for storing data to be transmitted and data to be received;
A transmission / reception unit (23-26, 31) for transmitting / receiving data between the plurality of microcomputers; the data table is capable of storing an amount of data transmitted / received by the transmission / reception by the transmission / reception unit a plurality of times;
Once the transmission / reception unit starts transmission processing of data to be transmitted, the transmission / reception unit transmits all data stored in the data table without intervention by the arithmetic processing unit.
The data to be transmitted includes determination data for determining whether or not the microcomputer receiving the data has completed receiving all the data stored in the data table of the microcomputer transmitting the data. ,
The microcomputer that receives data determines whether reception of all data has been completed based on the determination data.

  As described above, the plurality of microcomputers of the electronic control device according to the present invention include the transmission / reception unit that transmits and receives data between the plurality of microcomputers. Once the transmission / reception unit starts transmission processing of data to be transmitted, the transmission / reception unit transmits all data stored in the data table without intervention by the arithmetic processing unit. Therefore, all the data stored in the data table can be transmitted and received between the plurality of microcomputers without intervention by the arithmetic processing unit. In particular, in the electronic control device of the present invention, in the transmitted data, the microcomputer that receives the data determines whether reception of all the data stored in the data table of the microcomputer that transmits the data is completed. For the determination. Therefore, the microcomputer that receives the data can determine whether or not all the data has been received based on the determination data.

  The reference numbers in the parentheses are merely an example of a correspondence relationship with a specific configuration in the embodiment described later in order to facilitate understanding of the present disclosure, and are intended to limit the scope of the invention. It was not done.

  Further, technical features described in each claim of the claims other than the above-described features will be apparent from the description of the embodiments and the accompanying drawings described later.

1 is a configuration diagram illustrating a configuration of an electronic control device according to an embodiment. FIG. 3 is a configuration diagram illustrating a configuration related to a data communication process between a plurality of microcomputers. FIG. 4 is an explanatory diagram for describing data transmitted by a transmitting microcomputer. FIG. 9 is an explanatory diagram for describing an example of specific data transmission / reception processing between a transmission-side microcomputer and a reception-side microcomputer.

  Hereinafter, an electronic control device according to an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a configuration diagram illustrating a configuration of an electronic control device 10 of the present embodiment.

  The electronic control unit 10 is mounted on a vehicle, for example, and is used for controlling fuel injection and ignition timing of an engine. In this case, the electronic control unit 10 sends a plurality of data items such as the rotation angle of the engine, the rotation speed of the engine, the depression amount of the accelerator pedal, the water temperature of the engine, and the traveling speed of the vehicle based on sensor signals from various sensors. To get. The electronic control unit 10 determines the fuel injection timing and the ignition timing based on the plurality of acquired data so that the fuel injection and the ignition are performed at the optimal timing. Then, the electronic control unit 10 outputs a drive signal to the injector or the igniter based on the determined fuel injection timing and ignition timing.

  As shown in FIG. 1, the electronic control unit 10 includes a plurality of microcomputers 20 and 30 including a first microcomputer 20 and a second microcomputer 30 in order to appropriately execute the complicated engine control as described above. It is configured to be able to distribute the load. Note that the number of microcomputers is not limited to two, and the electronic control unit 10 may include three or more microcomputers.

  However, in order for the plurality of microcomputers 20 and 30 to execute control processing in cooperation with each other, data communication is performed between the plurality of microcomputers 20 and 30 and data necessary for control, data regarding control timing and control results, and the like. Need to share. At this time, if the central processing unit (CPU) 28 of each of the microcomputers 20 and 30 also executes data communication processing in addition to the arithmetic processing for executing the control processing, the capacity of each CPU 28 is Since it is devoted to processing, there is a concern that problems such as the necessity of employing a high-performance CPU and the delay of control executed by the CPU may occur.

  Therefore, the electronic control device 10 according to the present embodiment is configured to be able to perform data communication processing between the plurality of microcomputers 20 and 30 without intervention by the CPU 28. Hereinafter, a configuration relating to a data communication process between the plurality of microcomputers 20 and 30 will be described in detail with reference to FIGS. In FIGS. 2 and 4, the configuration of the first microcomputer 20 as the transmitting microcomputer and the configuration of the second microcomputer 30 as the receiving microcomputer are different from each other, but this is necessary for the transmission process. This is because only the configuration required for the reception processing and the configuration required for the reception processing are illustrated, and the first microcomputer 20 and the second microcomputer 30 have the same configuration. In other words, when the second microcomputer 30 is a transmitting microcomputer that performs data transmission and the first microcomputer 20 is a receiving microcomputer that receives data, the second microcomputer 30 transmits the data illustrated in FIGS. The first microcomputer 20 transmits data according to the configuration of the receiving microcomputer, and receives the data according to the configuration of the receiving microcomputer shown in FIGS. In the following description, a case will be described in which the first microcomputer 20 is a transmitting microcomputer and the second microcomputer 30 is a receiving microcomputer.

  As shown in FIG. 2, the first microcomputer 20 and the second microcomputer 30 are connected via a communication line 40, and perform data communication via the communication line 40. In the present embodiment, LVDS (Low Voltage Differential Signal) technology that uses a differential signal to communicate data serially is used for data communication. The communication line 40 includes two transmission lines for transmitting data from the first microcomputer 20 to the second microcomputer 30 in order to enable mutual communication of differential signals, and the first microcomputer 20 transmits the data from the second microcomputer 30 to the second microcomputer 30. And two reception lines for receiving the data. However, the transmission line and the reception line may be shared. Further, a serial communication technology other than the LVDS technology may be used for data communication.

  The first microcomputer 20 has a transmission data table 21 for storing data to be transmitted, and a transfer destination address table 22 for storing transfer destination address values. The transmission data table 21 is formed in the RAM of the first microcomputer 20. The transmission data table 21 stores an amount of data transmitted by a plurality of transmission processes by the SIPI 26 described later. The data is stored in the transmission data table 21 by, for example, the CPU 28 of the first microcomputer 20. However, data may be stored in the transmission data table 21 by the DMAC 23 described later instead of the CPU 28. Also, in FIGS. 2 and 3, the unit of one piece of data to be transmitted is 4 bytes, but the size of the unit of the transmission data is not limited to 4 bytes, and another unit may be used as a unit. On the other hand, the transfer destination address table 22 is formed in the RAM or the ROM of the first microcomputer 20. The transfer destination address table 22 stores an address value indicating each storage area included in the reception data table 32 of the second microcomputer 30 described later. The address values stored in the transfer destination address table 22 may be continuous from the head or may not be continuous.

  Although FIG. 2 shows only one set of the transmission data table 21, the transfer destination address table 22, and the reception data table 32, these may be provided for a plurality of sets. In that case, the size of each table in each set may be the same or different. When the first microcomputer 20 becomes the receiving microcomputer and the second microcomputer 30 becomes the transmitting microcomputer, the transmitting data table 21 of the first microcomputer 20 is used as the receiving data table, and the second microcomputer 30 is used. May be used as the transmission data table.

  The first microcomputer 20 stores the data (data 1 to data N) stored in the transmission data table 21 and the address values (address value 1 to address value N) stored in the transfer destination address table in a transfer data register, respectively. 24 and a DMAC (Direct Memory Access Controller) 23 for transferring data to a transfer destination address register 25. The DMAC 23 directly accesses the transmission data table 21 and the transfer destination address table 22 formed in the RAM or ROM, and reads stored data and address values. Then, the data read from the transmission data table 21 is transferred to the transfer data register 24, and the address value read from the transfer destination address table 22 is transferred to the transfer destination address register 25. Once the transfer process is started, the DMAC 23 repeatedly executes the transfer of the data and the address value to each of the registers 24 and 25 until the transmission of all the data stored in the transmission data table 21 is completed. When the transfer of the last data and address value is completed, the DMAC 23 outputs a transfer completion notification to the CPU 28.

  The first microcomputer 20 has a transfer data register 24 for temporarily storing data to be transmitted, and a transfer destination address register 25 for temporarily storing an address value indicating a storage area in the receiving microcomputer. Further, the first microcomputer 20 transmits the data stored in the transfer data register 24 and the address value stored in the transfer destination address register 25 to the second microcomputer 30 by a SIPI (Serial Interprocessor Interface). ) 26. The SIPI 26 starts a transmission process of transmitting the data and the address value to the SIPI 31 of the second microcomputer 30, triggered by storing the address value in the transfer destination address register 25 as a trigger.

  The SIPI 31 of the second microcomputer 30 receives the data and the address value transmitted from the SIPI 26 of the first microcomputer 20. Although not shown, a clock signal is supplied from the first microcomputer 20 to the second microcomputer 30 or from the second microcomputer 30 to the first microcomputer 20. Using this clock signal, the SIPI 26 of the first microcomputer 20 and the SIPI 31 of the second microcomputer 30 operate synchronously according to a common clock signal. For this reason, the SIPI 31 of the second microcomputer 30 can execute the receiving process of receiving the data and the address value transmitted by the SIPI 26 of the first microcomputer 20.

  The second microcomputer 30 has a reception data table 32 formed in the RAM for storing received data. The SIPI 31 of the second microcomputer 30 stores the received data in a storage area of the reception data table 32 indicated by the received address value. When the second microcomputer 30 determines that all the data stored in the transmission data table 21 of the first microcomputer 20 has been received by a method described later, all the data stored in the reception data table 32 are received. It is preferable that the reading of the data is completed and the respective data storage areas of the reception data table 32 are emptied (that is, data is deleted).

  Next, data transmitted by the first microcomputer 20 will be described with reference to FIG. As shown in FIG. 3, the first microcomputer 20 transmits a collation key 27 that can be collated by the second microcomputer 30 as the final data of the data to be transmitted.

  As shown in FIG. 3, the first microcomputer 20 and the second microcomputer 30 have matching keys 27 and 33 that can be compared with each other. These matching keys 27 and 33 are stored in the RAM or ROM of the first microcomputer 20 and the second microcomputer 30. FIG. 3 shows an example in which the first microcomputer 20 and the second microcomputer 30 have matching keys 27 and 33 having the same value. However, the matching keys 27 and 33 do not necessarily have to have the same value as long as the matching can be performed between the first microcomputer 20 and the second microcomputer 30. For example, the value of one collation key may be a value obtained by adding a certain value to the value of the other collation key. Further, the matching keys 27 and 33 may be variable values instead of fixed values. For example, the collation keys 27 and 33 change (for example, increase, decrease, etc.) according to the same rule each time the transmitting microcomputer adds it as the last data of the transmission data, and each time the receiving microcomputer compares it as the determination data. ).

  Next, an example of specific data transmission / reception processing between the first microcomputer 20 as the transmitting microcomputer and the second microcomputer 30 as the receiving microcomputer will be described with reference to FIG. 4, the transfer destination address table 22, the transfer data register 24, the transfer destination address register 25 of the first microcomputer 20, and the SIPI 31 of the second microcomputer 30 are omitted for convenience of description.

  First, the CPU 28 executes control software 28a for performing a predetermined control process, and writes transmission data to the transmission data table 21 through the driver software 28b as one function of the control software 28a (step 1). At this time, the control software 28a writes the above-described collation key 27 as the final data (data N) of the transmission data. The driver software 28b, as basic software, reads data from and writes data to a storage device (ROM, RAM, etc.) and exchanges signals with peripheral devices such as the DMAC 23. Or something. However, as described above, the writing of the transmission data to the transmission data table 21 may be performed by the DMAC 23.

  When the writing of all the transmission data is completed, the control software 28a gives a data transfer start instruction to the SIPI 26 through the driver software 28b (step 2). Specifically, the control software 28a writes the data 1 of the transmission data table 21 and the address value 1 of the transfer destination address table 22 to the transfer data register 24 and the transfer destination address register 25, respectively. With this writing as a trigger, the SIPI 26 executes transmission of the data 1 to the second microcomputer 30 (step 3). Alternatively, after the writing of all the transmission data is completed, the control software 28b may instruct the DMAC 23 to start the transfer, and the DMAC 23 may transfer the data 1 and the address value 1 to the registers 24 and 25.

  The SIPI 31 of the second microcomputer 30 receives the data 1 from the SIPI 26 of the first microcomputer 20, writes the received data 1 in the storage area specified by the address value 1 of the reception data table 32, and sends a reception notification ACK. Return (step 4). Therefore, when the SIPI 26 of the first microcomputer 20 receives the acknowledgment ACK from the SIPI 31 of the second microcomputer 30, the transmission and reception of the data 1 is normally performed, and it is considered that the data 1 is correctly written in the reception data table 32. be able to. Therefore, the SIPI 26 of the first microcomputer 20 outputs a DMA trigger signal to the DMAC 23 in order to perform a transmission process of the next data 2 in response to the reception notification ACK for the transmission of the data 1 (step 5).

  When the DMAC 23 receives the DMA trigger signal from the SIPI 26, it reads out the data 2 from the transmission data table 21 and performs DMA transfer to the SIPI 26 (transfer data register 24), and also reads out the address value 2 from the transfer destination address table 22 to read out the SIPI 26 ( DMA transfer to the transfer destination address register 25) (Step 6). Triggered by the DMA transfer of the address value 2 by the DMAC 23, the SIPI 26 transmits the data 2 to the second microcomputer 30 (step 7). When the transmitted data 2 is written into the reception data table 32, the SIPI 31 of the second microcomputer 30 returns a reception notification ACK as in the case of the data 1 (step 8).

  By repeating the transmission and reception processing of such data and the reception notification ACK, all data (data 2 to data N) stored in the transmission data table 21 is DMA-transferred to the SIPI 26 without the intervention of the CPU 28. , SIPI 26 can execute a process of transmitting data 2 to data N that have been DMA-transferred. Note that the control software 28a instructs the DMAC 23 in advance how many data are stored in the transmission data table 21, so that the DMAC 23 can perform the DMA transfer of an arbitrary number of data.

  When the DMA transfer of the last data N is completed, the DMAC 23 notifies the completion of the DMA transfer by an interrupt (step 9). The DMA transfer completion notification is received by the driver software 28b. Upon receiving the DMA transfer completion notification, the driver software 28b outputs a data transfer completion notification to the control software 28a (step 10). Thereby, the control software 28a can grasp that the transmission of all the data stored in the transmission data table 21 has been completed. Therefore, for example, when there is another data to be transmitted, the first microcomputer 20 can start processing for storing the data in the transmission data table 21.

  As shown in FIG. 4, the reception notification ACK for the last data N from the SIPI 31 of the second microcomputer 30 is ignored (step 11). That is, it does not output an interrupt notification to the driver software 28b in response to the reception notification ACK for the last data N. The reason why the interrupt notification to the driver software 28b is performed not according to the reception notification ACK for the last data N but according to the completion of the DMA transfer as described above is as follows. That is, when the reception notification ACK is used as a factor for outputting an interrupt notification to the driver software 28b, not only the last data N, but also all the data 1 to data N, the reception notification ACK is transmitted to the driver software 28b. Occurs, thereby increasing the processing load of the CPU 28.

  In this way, the first microcomputer 20, which is the transmitting microcomputer, can recognize that the transmission of all the data stored in the transmission data table 21 has been completed, based on the notification of the completion of the DMA transfer from the DMAC 23. However, since the second microcomputer 30, which is the receiving microcomputer, only receives the data transmitted from the first microcomputer 20, it is not possible to know when all the data has been received as it is. If it is not possible to grasp the completion of reception of all data, the second microcomputer 30 which is the receiving microcomputer, for example, cannot start processing using the received data, or even if there is data to be transmitted, the For example, cannot start the processing for

  Therefore, in the electronic control device 10 according to the present embodiment, as described above, the transmitting microcomputer (the first microcomputer 20) performs the collation by the receiving microcomputer (the second microcomputer 30) as the final data of the data to be transmitted. The possible matching key 27 is transmitted. Thus, the second microcomputer 30 can determine whether or not all the data has been received by using the collation key 27 as the determination data. That is, when it is determined that the collation key 27 is included in the data 1 to N stored in the reception data table 32 based on the collation key 33 held by the second microcomputer 30, the second microcomputer 30 It can be determined that the reception of all data has been completed.

  Further, by using the final data of the data to be transmitted as the collation key 27, all the data transmitted from the first microcomputer 20 as the transmitting microcomputer could be correctly received in the second microcomputer 30 as the receiving microcomputer. It will be possible to confirm that. The reason will be described below.

  As described above, when the SIPI 31 of the second microcomputer 30 that is the receiving microcomputer receives the data transmitted by the SIPI 26 of the first microcomputer 20 that is the transmitting microcomputer, and writes the received data to the receiving data table 32, , The SIPI 31 of the second microcomputer 30 returns a reception notification ACK. Therefore, the return of the reception notification ACK from the SIPI 31 of the second microcomputer 30 is performed in such a manner that the data transmitted from the SIPI 26 of the first microcomputer 20 can be normally received by the second microcomputer 30 and the data is This can be said to indicate that the data has been correctly written in the data table 32. Since the first microcomputer 20 uses the reception of the acknowledgment ACK as a trigger for the next data transmission process, data up to the final data N is stored in the reception data table of the second microcomputer 30. In this case, it can be said that data 1 to data N-1 excluding the final data N are normally received by the second microcomputer 30 and are guaranteed to be correctly written in the reception data table.

  However, the acknowledgment ACK for the final data N is not used as a trigger for the transmission processing of the next data, unlike the acknowledgment ACK for other data, and is simply ignored. For this reason, even if the acknowledgment ACK for the final data N is not returned, the first microcomputer 20 does not perform, for example, the retransmission processing of the final data N, and ends the data transmission processing. Therefore, it cannot be guaranteed that the final data N is correctly received by the second microcomputer 30.

  In this regard, in the present embodiment, the first microcomputer 20 that is the transmitting microcomputer transmits the collation key 27 that can be collated by the second microcomputer 30 that is the receiving microcomputer as the final data N. , It can be confirmed that the final data N has been correctly received. That is, if the second microcomputer 30 determines that the collation key 27 is included in the data stored in the reception data table 32, the final data N is normally received by the second microcomputer 30, It can be considered that the data has been written to the data table 32. Conversely, if the collation key 27 is not found in the reception data table 32 despite the completion of the transmission processing in the first microcomputer 20, the final data N is not normally received by the second microcomputer 30. Means In such a case, the second microcomputer 30 instructs the first microcomputer 20 to retransmit data, or performs a safety measure to limit the control processing in the first microcomputer 20 and the second microcomputer 30 to only some functions. Is preferred.

  There are several possible timings at which the second microcomputer 30 checks whether or not the collation key 27 is stored in the reception data table 32.

  As described above, the first microcomputer 20 can recognize the completion of the transmission processing of all the data stored in the transmission data table 21 by the data transfer completion notification from the DMAC 23. Therefore, the first microcomputer 20 notifies the second microcomputer 30 of the completion of the transmission process using a so-called handshake signal or the like. When receiving the notification, the second microcomputer 30 may search whether the data stored in the reception data table 32 includes the collation key 27.

  Alternatively, the second microcomputer 30 may periodically search the data stored in the reception data table 32 to determine whether or not the collation key 27 is included in the reception data table 32. In this case, when it is determined that the data has been correctly written in the reception data table 32, the data in the reception data table 32 is emptied, for example, by writing the last data to the reception data table 32. If the collation key 27 cannot be found in the reception data table 32 at the point in time when a predetermined time has elapsed from the time when is performed, it can be considered that data was not correctly written in the reception data table 32.

  As described above, the preferred embodiments of the present invention have been described. However, the present invention is not limited to the above-described embodiments, and can be variously modified and implemented without departing from the gist of the present invention. .

  For example, in the above-described embodiment, the collation key transmitted as the final data of the data to be transmitted, which can be collated between the transmitting microcomputer and the receiving microcomputer, is used as the determination data. However, the determination data is not limited to such a matching key. For example, even if the transmitting microcomputer uses the amount data indicating the data amount of all data to be transmitted as the determination data, and transmits this determination data (amount data) as the first data of the data to be transmitted, Good. In this case, if the transmitting microcomputer and the receiving microcomputer determine in advance the storage location of the data to be transmitted in the receiving data table, the receiving microcomputer receives the data from the determination data (amount data). It is possible to grasp the amount of data to be obtained. Then, when the data corresponding to the data amount is written in the receiving database, the receiving microcomputer can determine that all the data to be received has been received.

10: electronic control unit, 20: first microcomputer, 21: transmission data table, 22: transfer destination address table, 23: DMAC, 24: transfer data register, 25: transfer destination address register, 27: collation key, 28: CPU, 30: second microcomputer, 32: reception data table, 33: collation key, 40: communication line

Claims (10)

An electronic control unit (10) including a plurality of microcomputers (20, 30),
The plurality of microcomputers are respectively
An arithmetic processing unit (28);
A data table (21, 32) for storing data to be transmitted and data to be received;
A transmission / reception unit (23-26, 31) for transmitting / receiving data between the plurality of microcomputers; the data table can store an amount of data transmitted / received by a plurality of transmission / receptions by the transmission / reception unit; ,
The transmission / reception unit, once starting transmission processing of data to be transmitted, transmits all data stored in the data table without intervention by the arithmetic processing unit,
The data to be transmitted includes, in the microcomputer that receives the data, determination data for determining whether reception of all data stored in the data table of the microcomputer that transmits the data has been completed. Yes,
An electronic control unit, wherein a microcomputer that receives data determines whether reception of all data has been completed based on the determination data. The plurality of microcomputers have matching keys that can be compared with each other,
A microcomputer that transmits data uses the collation key as the determination data, transmits the collation key as final data of data to be transmitted,
The electronic control device according to claim 1, wherein the microcomputer that receives the data determines that reception of all data is completed by confirming the collation key as the determination data. When transmitting the final data, the microcomputer that transmits the data transmits a transmission completion signal to the microcomputer that receives the data,
The electronic control device according to claim 2, wherein the microcomputer that receives the data, upon receiving the transmission completion signal, checks whether the collation key is stored in a data table that stores the received data.   3. The electronic control device according to claim 2, wherein the microcomputer that receives the data periodically checks whether the collation key is stored in a data table that stores the received data.   The electronic control device according to claim 2, wherein the plurality of microcomputers have matching data having the same value as the matching key.   The electronic control device according to claim 2, wherein the collation key changes in the plurality of microcomputers according to a same rule. The transmitting and receiving unit includes:
A register (24) for storing data to be transmitted;
A transfer unit (23) for transferring the data stored in the data table to the register,
The transfer unit transfers new data from the data table to the register each time transmission of data stored in the register is completed, so that the transmission / reception unit receives intervention by the arithmetic processing device. 7. The electronic control device according to claim 1, wherein all data stored in the data table is transmitted. The transmission / reception unit of the microcomputer which receives the data transmits a reception notification signal notifying that the data has been received to the transmission / reception unit of the microcomputer which transmits the data, every time the data is received,
The electronic control device according to claim 7, wherein the transfer unit transfers new data from the data table to the register, triggered by reception of the reception notification signal.   9. The electronic control device according to claim 7, wherein the transfer unit outputs a completion notification to the arithmetic processing device when transfer of all data stored in the data table is completed. 10. The microcomputer that transmits the data uses the amount data indicating the data amount of all the data to be transmitted as the determination data, and transmits the amount data as the first data to be transmitted,
The electronic control device according to claim 1, wherein the microcomputer that receives the data determines that reception of all data has been completed when confirming that the data of the data amount indicated by the amount data has been received.

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