WO2015096952A1 - Procédé de transmission déterministe de données dans un système de bus et système de bus - Google Patents

Procédé de transmission déterministe de données dans un système de bus et système de bus Download PDF

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Publication number
WO2015096952A1
WO2015096952A1 PCT/EP2014/075925 EP2014075925W WO2015096952A1 WO 2015096952 A1 WO2015096952 A1 WO 2015096952A1 EP 2014075925 W EP2014075925 W EP 2014075925W WO 2015096952 A1 WO2015096952 A1 WO 2015096952A1
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WIPO (PCT)
Prior art keywords
type
message
data
bus
messages
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PCT/EP2014/075925
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German (de)
English (en)
Inventor
Benjamin Herrmann
Thomas WANDEL
Michael Beuten
Gustavo Tineli
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Robert Bosch Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Priority to CN201480076096.8A priority Critical patent/CN105993142B/zh
Priority to KR1020167019737A priority patent/KR102256153B1/ko
Publication of WO2015096952A1 publication Critical patent/WO2015096952A1/fr

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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04J—MULTIPLEX COMMUNICATION
    • H04J3/00—Time-division multiplex systems
    • H04J3/16—Time-division multiplex systems in which the time allocation to individual channels within a transmission cycle is variable, e.g. to accommodate varying complexity of signals, to vary number of channels transmitted
    • H04J3/1605—Fixed allocated frame structures
    • H04J3/1623—Plesiochronous digital hierarchy [PDH]
    • H04J3/1647—Subrate or multislot multiplexing
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04J—MULTIPLEX COMMUNICATION
    • H04J3/00—Time-division multiplex systems
    • H04J3/16—Time-division multiplex systems in which the time allocation to individual channels within a transmission cycle is variable, e.g. to accommodate varying complexity of signals, to vary number of channels transmitted
    • H04J3/1682—Allocation of channels according to the instantaneous demands of the users, e.g. concentrated multiplexers, statistical multiplexers
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L12/403—Bus networks with centralised control, e.g. polling

Definitions

  • the present invention relates to a method for deterministic data transmission in a bus system and to a corresponding bus system.
  • Bus systems are used today in a variety of different applications.
  • bus systems can be used in automation technology to couple the different sensors, actuators and controllers of an automation system in a data-communicative connection with each other.
  • Bus systems may, however, be e.g. also be used in vehicles to couple the individual control units in a vehicle with each other.
  • an ESP control device of a vehicle can be coupled to a central gateway of a vehicle via a CAN bus or a FlexRay bus.
  • the CAN bus is a bus system that has not previously been used for deterministic real-time communication. Rather, messages on the CAN bus are provided with a message ID. If two bus subscribers simultaneously send messages on the CAN bus, the bus access is arbitrated automatically based on the message ID. In this case, the message whose message ID indicates the higher priority is preferred. In such a case, therefore, the message whose message ID has the lower priority is not transmitted or later.
  • TTCAN protocol stipulates that a master must have a data frame containing a large number of messages with a control message begins. Individual data windows in a data frame can be reserved exclusively for specific senders.
  • the TTCAN protocol is e.g. disclosed in DE 10000302 A1.
  • the present invention discloses a method with the features of claim 1 and a bus system with the features of claim 12.
  • a method for deterministic data transmission in a bus system comprising the steps of dividing at least one bus of data into a first channel and a second channel, wherein the two channels are formed by time division multiplexing and wherein the smallest time unit of time division is a base data cycle and transmitting a message of one of the first type in each base data cycle in the first channel, wherein in the second channel in each base data cycle a message of a second type is transferable.
  • a bus system having a master device, which has at least one master bus interface and a control device, with a bus branch for each master bus interface of the master device, wherein each of the bus branches has at least one slave device with a slave bus interface and a Computing device, wherein the slave devices are arranged in a bus branch with two or more slave devices in a series circuit, wherein the control device and the computing means are adapted to perform a method according to the invention.
  • the present invention provides a method in which a data bus is divided into two channels.
  • the channels are formed by a time division multiplexing.
  • Time division multiplexing in this context means that the two channels share the data bus or the bus medium.
  • the division of the bus medium is not carried out physically, but the division is carried out by a temporal distribution of the bus medium.
  • time division multiplexing is performed such that the smallest unit of time division multiplexing is a basic data cycle.
  • a message of the first type is always transmitted in the first channel.
  • a second type message can optionally also be transmitted in the second channel. This completes a basic data cycle.
  • a basic data cycle is again followed by a basic data cycle, which again comprises a message of the first type in the first channel and an optional message of the second type in the second channel.
  • bus medium By dividing the bus medium into two channels, which are transmitted in the raster of the basic data cycle, very complex control tasks can be carried out in a simple bus system, without the hardware for the bus system e.g. would have to be adapted to a new bus system with a higher data transfer rate.
  • the cycle time of a basic data cycle depends on the duration of each message on channel 1 and channel 2.
  • the cycle time is calculated from the lengths (DLC) of these messages. shadow and the used baud rate of the bus.
  • a basic data cycle may have a cycle time of less than 500 seconds, more preferably less than 300 seconds, especially 250 seconds or 150 seconds. Due to the very short basic data cycles, which have at most two messages, a very fast message sequence can be achieved. This allows real-time control of bus subscribers with a very simple and thus also cost-effective bus architecture.
  • a master device of the bus system transmits the
  • Message of the first type as a unidirectional message to at least one of the slave devices of the bus system. If the first channel is reserved exclusively for these messages from the master device, it can be ensured that a message from the master device is transmitted to the slave devices in each basic data cycle.
  • the messages on channel 1 or the master device can be assigned higher priorities than the messages on channel 2 or the slave devices. This ensures that the messages are sent to KanaH even if the two channels overlap (error).
  • the master device in the message of the first type, transmits real-time control data for at least one of the slave devices. This allows a
  • the present invention can thus also be used for very complex control tasks.
  • the master device transmits the message of the first type as a broadcast message to all slave devices. This ensures that all slave devices receive the message and that the bandwidth of the bus system is not utilized by individually addressed individual messages. Consequently, a synchronized control of the slave devices is possible.
  • the second type message is transmitted from the master device to one of the slave devices or to all slave devices.
  • the second type message is transmitted from one of the slave devices to the master device and / or one of the slave devices or all the slave devices. Messages of the second type can thus be used for a point-to-point communication or for an individual communication between the Master device and individual slave devices or between the slave devices.
  • the second type message is transmitted from one of the slave devices only in response to a second type message transmitted from the master device to the corresponding slave device containing a data request.
  • the master device can control the communication on the data bus and the slave devices can not burden the bandwidth of the data bus due to erroneous or unwanted data communication.
  • this type of data communication can be dispensed with an arbitration of the communication on the data bus and still take place a cyclic bidirectional data exchange between the master device and the slave devices.
  • the method includes the step of transmitting a plurality of basic data cycles in a matrix cycle, the matrix cycle having a static region and a dynamic region, wherein in the static region in each matrix cycle the same data requests from the master device are in second type messages are transmitted to the slave devices, and in the dynamic range, the same data requests are not transmitted from the master device to messages of the second type to the slave devices in each matrix cycle.
  • This makes it possible to reserve data which must be exchanged cyclically between the master device and the slave devices, already the necessary bandwidth.
  • Such data may e.g. Be measurement data needed in a control algorithm.
  • Such data may e.g. Be diagnostic data.
  • the messages of the first type have the size of a first CAN data frame, in particular 32 bits
  • the messages of the second type have the size of a second CAN data frame, in particular 24 bits. If standard CAN data frames are used, the method can be used in a CAN bus system.
  • the method comprises the steps of transmitting in messages of the second type data sets that are larger than a message of the second type, in a corresponding plurality of messages of the second type, and reconstructing the Data amount by assembling the plurality of second type messages in a receiver of the plurality of second type messages. If the individual data sets are segmented, if they are larger, than the messages of the second type, large amounts of data can be transmitted in the second channel, while still allowing deterministic data transmission in the first channel. To assemble the individual messages of the second type into the original data set, it is possible, for example, to use message counters in the messages of the second type. Such a message counter is incremented with each second type message sent, thus indicating the order in which the second type messages must be assembled. Furthermore, it is very easy to check whether a message has been lost or not transmitted.
  • the messages of the second type have measurement data requests and / or measurement data. Additionally or alternatively, the messages of the second type have diagnostic requests and / or diagnostic data. Further data is also possible.
  • the method comprises the steps of calculating a checksum for the data of a first type and / or second type message and arranging the calculated checksum in the first type and / or second type message and checking the checksum after transmitting the first type message and / or second type. This makes it easy to secure the communication on the data bus.
  • the method comprises the steps of arranging a counter in a message of the first type and / or second type and checking the counter after transmitting the message of the first type and / or the second type. This makes it easy to secure the communication on the data bus.
  • the method comprises the steps of monitoring the time elapsed between a first type message and a second type message, or between a second type message having a data request and a second type message responding to has the request, passes, and triggers an alarm if the time duration is above a predetermined threshold. This makes it easy to secure the communication on the data bus.
  • the reception of a first type message and / or a second type message in a slave device is accomplished by a
  • Interruptcontroller especially in a high priority interrupt processed. This can ensure that the events triggered by the messages, e.g. Control commands are triggered and implemented in the shortest possible time.
  • the bus system is designed as a CAN bus system or as a CAN-based bus system.
  • the master bus interface is designed as a CAN bus interface and the slave bus interface is designed as a CAN bus interface.
  • the data bus is designed as a CAN bus. This allows the use of the present invention with known low complexity hardware.
  • each of the slave devices has only one slave bus interface.
  • the master device has a master bus interface for each bus branch. This makes it possible to perform a deterministic real-time communication between the master device and the slave devices with only one communication interface on each of the slave devices.
  • the CAN controller is in each case integrated into a computing device of the slave devices.
  • FIG. 2 shows a block diagram of an embodiment of a bus system according to the invention
  • Fig. 3 is a block diagram of another embodiment of an inventive
  • Fig. 4 is a block diagram of another embodiment of an inventive
  • FIG. 5 shows a diagram of an embodiment of a basic data cycle according to the invention and a matrix cycle according to the invention
  • Fig. 6 is a block diagram of an embodiment of a slave device according to the invention.
  • FIG. 7 shows a diagram of an embodiment of a static region of a matrix cycle according to the invention.
  • FIG. 1 shows a flow chart of an embodiment of a method according to the invention.
  • the method provides in a first step S1 that at least one data bus 2 of the bus system 1 is divided into a first channel 3 and a second channel 4.
  • the two channels 3, 4 are formed by time division multiplexing, the smallest time unit of the time division multiplexing being a basic data cycle 5. This means that respectively one basic data cycle 5 is transmitted one after the other on the data bus 2 and the two channels 3 and 4 are included in the basic data cycle 5.
  • a second step S2 the method provides for transmitting a message of a first type 6-1 - 6-30 in each base data cycle 5 in the first channel 3.
  • a message of a second type 7-1 - 7-30 is also transferable in each basic data cycle 5. This means that the second-type message 7-1-7-30 is optional and, unlike the first-type message 6-1-6-30, does not have to be transmitted in each basic data cycle 5.
  • a basic data cycle 5 may have a cycle time of less than 500 seconds, in particular less than 300 seconds.
  • a basic data cycle 5 may be e.g. at a data rate of 1 MBit, a cycle time of 250 s or at a data rate of 4 MBit for CANFD, a cycle time of 150 s.
  • the cycle time depends on the baud rate of the bus and the message length on KanaH and channel2.
  • the length depends on the interrupt latency in the receiving device and the processing time of the request and response.
  • the master device 8 may in one embodiment selectively route the message of the first type 6-1-6-30 as a one-way message to a slave device 9-1 - 9-n or a group of slave devices 9-1 - 9- n convey.
  • the master device 8 can transmit in the message of the first type 6-1 - 6-30 eg real-time control data for at least one of the slave devices 9 - 1 - 9-n.
  • the slave devices may be 9-1 - 9-n controllers, each controlling the power electronics of a multi-phase converter for one phase.
  • the master device 8 can control the individual phases in real time using the real-time control data.
  • the messages of the second type 7-1 - 7-30 may, in one embodiment, be sent from the master device 8 directly to only one of the slave devices 9-1 - 9-n or in a broadcast message to all the slave devices 9-1 - 9-n are transmitted.
  • the messages of the second type 7-1 - 7-30 can be transmitted from one of the slave devices 9-1 - 9-n to the master device 8 or at least one of the slave devices 9-1 - 9-n.
  • the slave devices 9-1 - 9-n send the message of the second type 7-1 - 7-30 only as a response 1 1 -1 - 1 1 -7 to one of the master device 8 to the corresponding slave Device 9-1 - 9-n transmitted second type message 7-1 - 7-30, which contains a data request 10-1 - 10-6.
  • a plurality of basic data cycles 5 are combined in a matrix cycle 15-1 - 15-n.
  • the matrix cycle 15-1 - 15-n may in one embodiment have a static region 16 and a dynamic region 17.
  • the same data requests 10-1 - 10-6 are sent from the master device 8 to messages of the second type 7-1 - 7-30 to the slave devices 9 -1 - 9-n transmitted.
  • the dynamic area 17 the data transmitted in the second channel 4 is not predetermined and can be set dynamically.
  • the master device 8 in the dynamic range 17 can interrogate diagnostic data from the slave devices 9-1 - 9-n as needed.
  • the messages of the first type 6-1 - 6-30 are the size of a first CAN data frame 20, in particular 32 bits.
  • the messages of the second type 7-1 - 7 - 30 may have the size of a second CAN data frame 21, in particular 24 bits. In this configuration, when using CAN with 1 Mbps, basic data cycle times are used possible.
  • the method provides that data volumes in the first channel 3 or the second channel 4 that are larger than the messages of the first type 6-1-6-30 or the messages of the second type 7-1 can be transgressed - 7-30.
  • the data sets are divided into individual data packets, each of which fits into a message of the first type 6-1 - 6-30 or a message of the second type 7-1 - 7-30.
  • the amount of data is then communicated in a corresponding plurality of second type messages 7-1-7-30.
  • the data amount is reconstructed by assembling the plurality of second type messages 7-1 - 7-30.
  • data loss and changes in the sequence can be detected at the receiving device.
  • measurement data requests and / or measurement data can be transmitted in the messages of the second type 7-1-7-30 in one embodiment.
  • diagnostic messages and / or diagnostic data may be transmitted in messages of the second type 7-1-7-30.
  • the method provides for securing data communication by computing a checksum for the data of a first type message 6-1-6-30 and second type messages 7-1-7-30, respectively.
  • the checksum is then integrated and transmitted in the respective message of the first type 6-1 - 6-30 or second type 7-1 - 7-30.
  • the recipient checks the checksum after receiving and can thus determine the integrity of the message.
  • counters e.g. Message counter or so-called AliveCounter
  • AliveCounter be integrated in a message of the first type 6-1 - 6-30 and / or second type 7-1 - 7-30.
  • the receiver can monitor the steady incrementing of the counter.
  • timeouts can be provided by means of which the time duration which elapses between a message of the first type 6-1 - 6-30 and a message of the second type 7-1 - 7-30 or which between a message of the second type 7-1 - 7 30, which has a data request 10-1 - 10-6, and a message of the second type 7-1 - 7-30, which has a response 1 1 -1 - 1 1 -7 to the request , If this time duration exceeds a predetermined threshold value, e.g. an alarm is issued.
  • a predetermined threshold value e.g. an alarm is issued.
  • FIG. 2 shows a block diagram of an embodiment of a bus system 1 according to the invention.
  • the bus system 1 has a master device 8, which has a multiplicity of master bus interfaces 30-1 - 30-n and a control device 35. In this case, only the first master bus interface 30-1 and the last master bus interface 30-n are drawn in.
  • each of the master interfaces 30-1 - 30-n Connected to each of the master interfaces 30-1 - 30-n is a respective bus branch 40-1, 40-n.
  • Two slave devices 9-1 and 9-k are arranged on the first bus branch 40-1, with further slave devices being indicated by three points between the slave devices 9-1 and 9-k.
  • Two slave devices 9-I and 9-n are coupled to the bus branch 40-n.
  • Other slave devices are also indicated by three dots.
  • the slave devices 9-1 - 9-n each have a slave bus interface 31 -1 - 31 -n, via which the slave devices 9-1 - 9-n are coupled to the respective bus branch 40-1 - 40-n.
  • slave devices 9-1 - 9-n are arranged in the respective bus branch 40-1 - 40-n in a series circuit. In a further embodiment, however, bus branches 40-1 are also
  • the control device 35 of the master device 8 and the computing devices 36-1 - 36-n (not shown in FIG. 2) of the slave devices 9-1 - 9-n are designed to carry out a method according to the invention.
  • the bus system 1 is a CAN bus system and the bus branches 40-1 - 40-n are each designed as CAN buses.
  • the master interfaces 30-1 - 30-n and the slave bus interfaces 31 -1 - 31 -n are designed as CAN interfaces with a CAN transceiver and a CAN controller.
  • the CAN controllers can be integrated in the control device 35 or the computing devices 36-1 - 36-n.
  • FIG. 3 shows a block diagram of a further embodiment of a bus system 1 according to the invention with a master device 8 and three slave devices 9-2, 9-3 and 9-n. Other slave devices are indicated by three dots between the slave devices 9-3 and 9-n. Since the slave devices 9-2, 9-3 and 9-n are constructed identically, only the structure of the slave device 9-2 will be explained below.
  • the master device 8 has a control device 35, which with MCU
  • This control means 35 may e.g. a microcontroller or a microprocessor.
  • the control device 35 is coupled to a master interface 30-1, which is coupled to a data bus 2, in this case to a CAN bus 2.
  • the individual lines of the CAN bus 2 are not shown explicitly. Rather, besides the CAN bus, it is noted that the cables CAN_H, CAN_L and GND (ie ground) form the CAN bus.
  • the slave device 9-2 Since the CAN bus is a differential data bus, the data is transmitted as a differential signal with two data lines.
  • the line CAN_H carries the HIGH or high signal and the data line CAN_L the LOW or the low signal.
  • the slave device 9-2 has a slave bus interface 31 -1, which is designed as a CAN interface 31 -1.
  • the slave bus interface 31-1 may have, for example, a CAN transceiver.
  • the slave device 9-2 has a computing device 36-1 coupled to the slave bus interface 31-1. This can also be, for example, an MCU or a microcontroller or microprocessor.
  • an isolator 33-1 is arranged between the slave bus interface 31 -1 and the computing device 36-1. This is necessary because the slave device 9-2 of Fig.
  • HV High Voltage
  • LV Low Voltage
  • each slave device 9-1 - 9-n requires only a single slave interface 31 -1 - 31 -n in order to use the present method can.
  • very simple and inexpensive slave devices 9-1 - 9-n can be provided.
  • FIG. 4 shows a block diagram of a further embodiment of a bus system 1 according to the invention.
  • the bus system 1 of FIG. 4 is based on the bus system 1 of FIG. 3 and differs from this in that the master device 8 has three master interfaces 30-1 - 30-3, each with a bus branch 40-1 - 40-3 are coupled.
  • the master device 8 has three master interfaces 30-1 - 30-3, each with a bus branch 40-1 - 40-3 are coupled.
  • Bus branch 40-1 - 40-n has three slave devices 9-5 - 9-13, each between the last two slave devices 9-6, 9-7; 9-9, 9-10 and 9-12, 9-13 are indicated by three points further slave devices.
  • the master device 8 has a CAN transceiver 30-1 - 30-3 for each bus branch 40-1 - 40-3.
  • the slave devices 9-5 - 9-13 of FIG. 5 are similar to the slave devices 9-1 - 9-n of FIG. 4.
  • each bus branch 40-1 - 40-3 can be used, for example, to control one phase of a multiphase system, for example a polyphase inverter.
  • FIG. 5 shows a diagram of an embodiment of a basic data cycle 5 according to the invention and matrix cycles 15-1 - 15-n according to the invention.
  • FIG. 5 shows the basic data cycle 5 which comprises two messages 6-1 and 7-1, which respectively represent the first channel 3 and the second channel 4.
  • the message of the first type 6-1 is arranged in a first CAN data frame 20 having a size of 32 bits.
  • the message of the second type 7-1 is arranged in a second CAN data frame 21 having a size of 24 bits. Other sizes are also possible.
  • a basic data cycle 5 at a baud rate of 1 Mbaud and data lengths of 32 bits on KanaH and 24 bits on channel 2 can be set to times in the range 250. If the data rate in the user data field of a CAN message is increased to 4 MBaud, the basic data cycle 5 may be in the range of 150.
  • a data rate of 4 Mbaud can be used in a CAN bus system 1 e.g. be achieved with the CANFD (CAN with flexible data rate) protocol.
  • the message of the first type 6-1 of the channel 1 in Fig. 5 is a message 6-1 transmitted from the master device 8 to all the slave devices 9-1 - 9-n by means of a broadcast.
  • This is illustrated in Fig. 5 by the remark: Master -> Slave.X.
  • a broadcast in this context represents a message which is not addressed to a single receiver but addressed to all subscribers in a bus branch 40-1-40-n.
  • Slave.X the X stands for all slave devices 9-1 - 9-n.
  • a time series with matrix cycles 15-1 to 15-n is shown under the basic data cycle 5. It is shown by two arrows that the basic data cycle 5 is transmitted in the matrix cycle 15-1 first. Furthermore, it can be seen that the matrix cycle 15-1 has a plurality of basic data cycles 5, as well as the further matrix cycles 15-2 - 15-n.
  • the duration of a matrix cycle 15-1 - 15-n is the length of the base cycle times the number of base cycles in the matrix cycle.
  • FIG. 6 shows a block diagram of an embodiment of a slave device 9-14 according to the invention.
  • the processing of second type messages 7-1 - 7-n may, in one embodiment, be the same as the processing of first type messages 6-1 - 6-n.
  • Fig. 6 it is shown that messages 6-2 - 6-6 in turn via a CAN bus or a CANFD bus to the slave device 9-14 are transmitted.
  • FIG. 7 shows a diagram of an embodiment of a static region of a matrix cycle 15-1 according to the invention.
  • the matrix cycle 15-1 is subdivided into 5 regions, in which case the first 4 regions form the static region 16 of the basic data cycle 5.
  • the fifth region is illustrated only schematically at the end of the static region 16 and forms the dynamic region 17.
  • the first type of messages 6-1-6-30 and the second type 7-10-7-14, 7-19 and 7-25 which the master device 8 transmits are shown in a first line.
  • the messages of the second type 7-15 - 7-18 are shown, which the slave device 9-15 sends out.
  • the messages of the second type 7-20 - 7-24 are shown, which sends out the slave device 9-16.
  • the messages of the second type 7-26-7-30, which the slave device 9-17 transmits are shown.
  • the master device 8 Before one of the slave devices 9-15-9-17 transmits messages on the data bus 2, the master device 8 must communicate this data with the second type messages 7-13, 7-19 and 7-25 of the individual slave devices 9-15 - 9-17.
  • the master device transmits three second-type broadcast messages 7-10-7-12 to all slave devices 9-15-9-17. These second type broadcast messages 7-10-7-12 have a request that is segmented into three data requests 10-1 - 10-3. These data requests 10-1 - 10-3 instruct the slave devices 9-15-9-17 to acquire measurement data.
  • the following three areas show how the master device 8 retrieves the measurement data from the slave devices 9-15-9-17.
  • the master device 8 transmits a second type 7-13 message to the slave device 9-15, whereupon it responds with the second type messages 7-14-7-18 having a segmented response 1 1 -1 in which the requested measurement data are included.
  • the master device 8 transmits a second type 7-19 message to the slave device 9-16, whereupon it responds with the second type messages 7-20-7-24 having a segmented response 1 1 -2 in which the requested measurement data are included.
  • the master device 8 transmits a second type message 7-25 to the slave device 9-17, whereupon it responds with the second type messages 7-26-7-30 having a segmented response 1 1 -3 in which the requested measurement data are included.
  • the fourth region is adjoined by the dynamic range.
  • the master device 8 may also retrieve diagnostic data or the like from the slave devices 9-15-9-17 in response to measurement data.
  • the present invention has been described above with reference to preferred embodiments, it is not limited thereto, but modifiable in a variety of ways. In particular, the invention can be varied or modified in many ways without deviating from the gist of the invention.

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Abstract

La présente invention concerne un procédé permettant une transmission déterministe de données dans un système de bus. Ledit procédé comprend les étapes suivantes : répartition d'au moins un bus de données du système de bus en un premier canal et en un second canal, les deux canaux étant formés par un multiplexage temporel et la plus petite unité temporelle du multiplexage temporel étant un cycle de données de base; transmission d'un message d'un premier type au cours de chaque cycle de données de base dans le premier canal, un message d'un second type pouvant être transmis dans le second canal au cours de chaque cycle de données de base. La présente invention concerne en outre un système de bus.
PCT/EP2014/075925 2013-12-23 2014-11-28 Procédé de transmission déterministe de données dans un système de bus et système de bus WO2015096952A1 (fr)

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Application Number Priority Date Filing Date Title
CN201480076096.8A CN105993142B (zh) 2013-12-23 2014-11-28 用于在总线系统中确定性地进行数据传输的方法和总线系统
KR1020167019737A KR102256153B1 (ko) 2013-12-23 2014-11-28 버스 시스템에서 결정성 데이터 전송을 위한 방법 및 버스 시스템

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DE102013227059.3A DE102013227059A1 (de) 2013-12-23 2013-12-23 Verfahren zur deterministischen datenübertragung in einem bussystem und bussystem
DE102013227059.3 2013-12-23

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