WO2019235286A1 - Communication device and control method - Google Patents

Communication device and control method Download PDF

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Publication number
WO2019235286A1
WO2019235286A1 PCT/JP2019/020912 JP2019020912W WO2019235286A1 WO 2019235286 A1 WO2019235286 A1 WO 2019235286A1 JP 2019020912 W JP2019020912 W JP 2019020912W WO 2019235286 A1 WO2019235286 A1 WO 2019235286A1
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WO
WIPO (PCT)
Prior art keywords
processing unit
microcomputer
slave
sub
main
Prior art date
Application number
PCT/JP2019/020912
Other languages
French (fr)
Japanese (ja)
Inventor
遼 岡田
元太 山根
Original Assignee
住友電装株式会社
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
Priority claimed from JP2018230275A external-priority patent/JP7147525B2/en
Application filed by 住友電装株式会社 filed Critical 住友電装株式会社
Priority to US16/973,183 priority Critical patent/US11498497B2/en
Priority to CN201980034134.6A priority patent/CN113169907B/en
Priority to DE112019002894.4T priority patent/DE112019002894T5/en
Publication of WO2019235286A1 publication Critical patent/WO2019235286A1/en

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Classifications

    • 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]
    • H04L12/2854—Wide area networks, e.g. public data networks
    • H04L12/2856—Access arrangements, e.g. Internet access
    • H04L12/2863—Arrangements for combining access network resources elements, e.g. channel bonding
    • H04L12/2867—Physical combinations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
    • B60R16/0238—Electrical distribution centers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
    • B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
    • B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
    • B60R16/0234—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions related to maintenance or repairing of vehicles
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F11/00—Error detection; Error correction; Monitoring
    • G06F11/07—Responding to the occurrence of a fault, e.g. fault tolerance
    • G06F11/0703—Error or fault processing not based on redundancy, i.e. by taking additional measures to deal with the error or fault not making use of redundancy in operation, in hardware, or in data representation
    • G06F11/0751—Error or fault detection not based on redundancy
    • G06F11/0754—Error or fault detection not based on redundancy by exceeding limits
    • G06F11/0757—Error or fault detection not based on redundancy by exceeding limits by exceeding a time limit, i.e. time-out, e.g. watchdogs
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F11/00—Error detection; Error correction; Monitoring
    • G06F11/30—Monitoring
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F8/00—Arrangements for software engineering
    • G06F8/60—Software deployment
    • G06F8/65—Updates
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F9/00—Arrangements for program control, e.g. control units
    • G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
    • G06F9/44—Arrangements for executing specific programs
    • G06F9/445—Program loading or initiating
    • 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]
    • 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 disclosure relates to a communication device including a plurality of processing units and a method for controlling these processing units.
  • ECUs Electronic Control Units
  • CAN Controller Area Network
  • Ethernet registered trademark
  • a plurality of ECUs exchange information through communication and cooperate in vehicle control and the like.
  • the number of ECUs mounted on a vehicle has increased, and a configuration in which a plurality of network groups are provided in a vehicle and a device such as a gateway relays communication between the groups has been adopted.
  • Patent Document 1 describes a navigation device that determines communication parameters in accordance with communication conditions or communication conditions.
  • the navigation device transmits a message to the server device, and receives a response message for the message from the server device.
  • the navigation device measures a response value indicating a communication state related to the communication time based on the time from the transmission of the message to the reception of the response message.
  • the navigation device determines an optimal communication parameter based on the measured response value, and sets the optimal communication parameter in the communication parameter related to the communication disconnection condition.
  • a communication device such as an ECU or a gateway includes a plurality of processing units such as a microcomputer (microcontroller) that executes processing by executing a program.
  • a microcomputer microcontroller
  • distribution of processing load can be expected.
  • an abnormality such as a failure occurs in one processing unit, there is a problem that the operation of another processing unit is adversely affected.
  • the present disclosure has been made in view of such circumstances, and the object of the present disclosure is to control processing for an abnormality or the like that occurs in the slave processing unit in a configuration including a plurality of processing units that have a master-slave relationship. Is to provide a communication device and a control method that can be performed by a main processing unit.
  • the communication device includes a main processing unit and a sub processing unit, the sub processing unit performs processing related to communication, the main processing unit controls activation of the sub processing unit, The slave processing unit periodically transmits a signal to the main processing unit, and the main processing unit controls the operation of the slave processing unit in accordance with a signal periodically transmitted by the slave processing unit.
  • a communication device including a slave processing unit that performs processing related to communication and a main processing unit that controls activation of the slave processing unit is periodically executed by the slave processing unit.
  • a signal is transmitted to the processing unit, and the operation of the slave processing unit is controlled by the main processing unit in accordance with a signal periodically transmitted from the slave processing unit.
  • the present application can be realized not only as a communication device including such a characteristic processing unit, but also as a control method using such characteristic processing as a step, or for causing a computer to execute such a step. Or as a computer program. Further, it can be realized as a semiconductor integrated circuit that realizes part or all of the communication device, or can be realized as another device or system including the communication device.
  • the main processing unit can perform control processing for an abnormality or the like that has occurred in the sub processing unit.
  • FIG. 3 is a block diagram showing a configuration of a gateway according to Embodiment 1.
  • FIG. 3 is a block diagram showing a configuration of a main microcomputer according to the first embodiment.
  • FIG. 3 is a block diagram showing a configuration of a slave microcomputer according to the first embodiment.
  • FIG. It is a schematic diagram which shows the structure of the message transmitted / received between the main microcomputer and a submicrocomputer.
  • 3 is a flowchart showing a procedure of processing performed by the main microcomputer according to the first embodiment when it is activated.
  • 4 is a flowchart showing a procedure of processing performed by the slave microcomputer according to the first embodiment when it is activated.
  • 4 is a flowchart illustrating a procedure of a periodic message transmission process performed by the slave microcomputer according to the first embodiment.
  • FIG. 4 is a flowchart showing a procedure of control processing based on a periodic message performed by the main microcomputer according to the first embodiment.
  • 6 is a block diagram illustrating a configuration of a gateway according to Embodiment 2.
  • FIG. 6 is a block diagram illustrating a configuration of a slave microcomputer according to a second embodiment.
  • a communication system includes a main processing unit and a sub processing unit, the sub processing unit performs processing related to communication, and the main processing unit controls activation of the sub processing unit.
  • the slave processor periodically transmits a signal to the main processor, and the master processor controls the operation of the slave processor according to a signal periodically transmitted by the slave processor. .
  • the communication apparatus includes two processing units, a main processing unit and a sub processing unit.
  • the main processing unit controls activation of the sub processing unit.
  • the slave processing unit performs processing related to communication.
  • the slave processing unit periodically transmits a predetermined signal to the main processing unit.
  • the main processing unit controls the operation of the sub processing unit according to a signal periodically transmitted by the sub processing unit. Accordingly, the main processing unit can periodically grasp the operation status of the sub processing unit based on the signal periodically transmitted from the sub processing unit.
  • the sub processing unit when the main processing unit does not receive the signal periodically transmitted by the sub processing unit for a predetermined time, the sub processing unit performs predetermined control.
  • the state in which no periodic signal is received from the slave processing unit continues for a predetermined time, it can be estimated that an abnormality has occurred in the slave processing unit.
  • the main processing unit when the main processing unit performs predetermined control, it is possible to cope with an abnormality in the sub processing unit.
  • the main processing unit performs control to restart or stop the sub processing unit as the predetermined control.
  • the predetermined control performed by the main processing unit when the periodic signal from the sub processing unit is not received is the control for restarting or stopping the sub processing unit.
  • the restart control there is a possibility that the slave processing unit in which the abnormality has occurred returns to the normal state. Further, by controlling the stop, it is possible to suppress the abnormality of the slave processing unit from adversely affecting the main processing unit and other devices.
  • the slave processing unit selectively executes a plurality of programs stored in a storage unit, the main processing unit gives an instruction to select which program the slave processing unit executes, It is preferable that the signal periodically transmitted by the sub processor includes information indicating which program is being executed.
  • the slave processing unit selects and executes one of a plurality of programs stored in the storage unit. Which program is executed by the sub processor is selected in accordance with a selection instruction from the main processor.
  • the sub processor transmits a periodic signal
  • the sub processor includes information indicating which program is being executed in the signal.
  • the main processing unit that has received the periodic signal can grasp which program is being executed by the sub-processing unit, and can grasp whether the program instructed by itself is being executed. .
  • the main processing unit performs a process of updating a program executed by the slave processing unit, and the plurality of programs include a program before update and a program after update.
  • the program executed by the sub processor may need to be updated for the purpose of version upgrade or defect correction, for example, and the main processor performs the process of updating the program executed by the sub processor.
  • the main processing unit stores a new program in the storage unit of the slave processing unit.
  • a plurality of programs can be stored in the storage unit in which the programs of the slave processing unit are stored, and the program before the update and the program after the update can be stored.
  • the main processing unit gives the sub-processing unit a selection instruction to read and execute the updated program from the storage unit, so that the sub-processing unit stores the updated program stored in the storage unit. Can be executed.
  • the signal periodically transmitted by the sub processor includes information on an error that has occurred in the processing of the sub processor.
  • the slave processing unit includes information on an error that has occurred in its own processing when transmitting a periodic signal.
  • the main processing unit that has received the periodic signal can grasp the error that has occurred in the sub-processing unit, and can perform processing such as recovery from the error.
  • the information regarding the error is information regarding an abnormality in a voltage supplied to the slave processing unit.
  • the abnormality of the voltage is that the value of the voltage falls below a predetermined value.
  • the voltage value lower than the range of the voltage value predetermined for the slave processing unit due to the decrease in the supply voltage from the battery. It is possible to prevent malfunction of the slave processing unit due to the supply of the value voltage.
  • a communication device including a slave processing unit that performs processing related to communication and a main processing unit that controls activation of the slave processing unit is periodically executed by the slave processing unit.
  • a signal is transmitted to the main processing unit, and the main processing unit controls the operation of the sub processing unit according to a signal periodically transmitted from the sub processing unit.
  • the main processing unit can periodically grasp the operation status of the sub processing unit based on the signal periodically transmitted from the sub processing unit. it can.
  • FIG. 1 is a block diagram illustrating a configuration of a gateway according to the first embodiment.
  • the gateway 3 according to the first embodiment is mounted on the vehicle 1.
  • a plurality of ECUs 2a and 2b are mounted on the vehicle 1, and the plurality of ECUs 2a and 2b can communicate according to a CAN or Ethernet communication standard.
  • the gateway 3 is a communication device that performs processing for relaying message transmission and reception between the plurality of ECUs 2a and 2b.
  • the ECU 2a communicates with the Ethernet communication standard
  • the ECU 2b communicates with the CAN communication standard.
  • the gateway 3 is connected to the ECU 2a via an Ethernet communication line and is also connected to the ECU 2b via a CAN communication line (CAN bus).
  • CAN bus CAN communication line
  • the gateway 3 includes two microcomputers, a main microcomputer 10 and a slave microcomputer 30.
  • the microcomputer includes, for example, a processor, a memory, a communication unit, and the like configured as a single IC (Integrated Circuit), and can perform various arithmetic processing and control processing by executing a program stored in advance.
  • the main microcomputer 10 and the sub-microcomputer 30 are mounted on one circuit board, and signals are transmitted and received through wiring formed on the circuit board.
  • a plurality of connectors for connecting Ethernet and CAN communication lines are mounted on the circuit board, and these connectors and the main microcomputer 10 or the sub microcomputer 30 are connected via wiring on the circuit board. .
  • the main microcomputer 10 and the slave microcomputer 30 can communicate with the ECUs 2a and 2b via the communication line.
  • the main microcomputer 10 performs CAN communication
  • the slave microcomputer 30 performs Ethernet communication.
  • a plurality of CAN communication lines are connected to the main microcomputer 10, and a plurality of ECUs 2b are connected to each communication line.
  • the main microcomputer 10 performs processing for relaying message transmission / reception between communication lines.
  • a plurality of Ethernet communication lines are connected to the microcomputer 30 and an ECU 2a is connected to each communication line.
  • the slave microcomputer 30 performs a process of relaying message transmission / reception between the ECUs 2a.
  • the gateway 3 can also relay the transmission and reception of messages between the ECU 2a and the ECU 2b. In this case, messages are exchanged between the main microcomputer 10 and the sub microcomputer 30.
  • the main microcomputer 10 and the slave microcomputer 30 can transmit and receive messages by communication (see the thick arrow labeled “Communication” in FIG. 1). Further, the main microcomputer 10 outputs a start instruction, reset and power control signal to the sub microcomputer 30 in order to control the operation of the sub microcomputer 30 (in FIG. 1, “start instruction”, “reset” and “power control”). (See the thin arrow labeled "). These communication lines and signal lines are realized as wiring on a circuit board on which the main microcomputer 10 and the slave microcomputer 30 are mounted.
  • a communication standard of MII Media Independent Interface
  • a communication line for message transmission from the main microcomputer 10 to the sub microcomputer 30 and a communication line for message transmission from the sub microcomputer 30 to the main microcomputer 10 are provided between the main microcomputer 10 and the sub microcomputer 30.
  • a signal line for performing control related to communication The main microcomputer 10 and the slave microcomputer 30 can send and receive a message to be relayed from the ECU 2a to the ECU 2b or from the ECU 2b to the ECU 2a, for example, by this communication.
  • the start instruction signal output from the main microcomputer 10 is a signal instructing the selection of a program to be read and executed from the memory when the slave microcomputer 30 is started.
  • two programs are stored in the memory of the slave microcomputer 30, and the slave microcomputer 30 reads and executes one of the programs at the time of startup.
  • these two programs are the program A and the program B, for example, if the activation instruction signal output from the main microcomputer 10 is low level, the slave microcomputer 30 executes the program A, and if the signal is high level, the slave microcomputer 30 30 can be configured to execute the program B.
  • the number of signal lines for transmitting and receiving the activation signal may be one.
  • the operation mode of the program is further specified. If possible, there may be a plurality of signal lines for transmitting and receiving the activation signal.
  • the reset signal output from the main microcomputer 10 is a signal for resetting (initializing) the operation of the slave microcomputer 30. For example, when the reset signal is at a low level, the microcomputer 30 is reset, and when the reset signal subsequently changes to a high level, the reset is released and the operation of the slave microcomputer 30 is started. At this time, the microcomputer 30 starts the operation by reading and executing the program instructed by the activation instruction signal.
  • the power control signal output from the main microcomputer 10 is a signal for turning on / off the power supply (power supply) of the slave microcomputer 30. For example, when the power control signal is at a low level, the slave microcomputer 30 is turned off and stopped. When the power control signal is at a high level, the microcomputer 30 is turned on and operates.
  • the slave microcomputer 30 transmits a predetermined message to the main microcomputer 10 at a cycle of once per second, for example.
  • This periodic message transmission is a message for notifying the main microcomputer 10 that the sub-microcomputer 30 is operating normally, and corresponds to transmission of a signal that can be called “KeepKAlive”.
  • this message is called a periodic message.
  • the main microcomputer 10 receives a periodic message from the slave microcomputer 30 at a period of once per second. If this periodic message cannot be received, the main microcomputer 10 determines that an abnormality has occurred in the slave microcomputer 30, and performs control such as resetting or powering off the slave microcomputer 30.
  • a periodic message is transmitted from the slave microcomputer 30 to the main microcomputer 10 at a cycle of 1 second.
  • this cycle is only an example, and the cycle is not limited to this. It may be milliseconds or 10 seconds.
  • the transmission period of the periodic message is set to a sufficiently long period compared with, for example, the communication period or frequency for message relay between the ECUs 2a and 2b.
  • the master microcomputer 10 updates the program of the slave microcomputer 30.
  • the main microcomputer 10 acquires an update program from, for example, a server device existing outside the vehicle 1. In FIG. 1, an update program acquisition path is not shown.
  • the main microcomputer 10 communicates with a server device existing outside the vehicle 1 using a wireless communication device mounted on the vehicle 1. And an update program can be obtained.
  • the main microcomputer 10 transmits the acquired update program to the slave microcomputer 30 by MII communication.
  • the slave microcomputer 30 can store two programs in the memory as described above.
  • the slave microcomputer 30 that has received the update program from the main microcomputer 10 overwrites and stores the received update program in the area of the memory in which the program not executed at that time is stored.
  • the main microcomputer 10 After completing the transmission of the update program, the main microcomputer 10 outputs a start instruction signal to execute the update program stored in the memory and resets the slave microcomputer 30.
  • the slave microcomputer 30 can read and execute a new program (update program) stored in the memory, and the update process of the slave microcomputer 30 is completed.
  • the slave microcomputer 30 transmits information indicating which of the two programs stored in the memory is being executed in a periodic message transmitted to the main microcomputer 10 at a cycle of once per second. .
  • the main microcomputer 10 that has received the periodic message can grasp which program the slave microcomputer 30 is executing based on the information included in the periodic message, and the program designated by the start instruction is executed. It can be confirmed.
  • the slave microcomputer 30 transmits information related to this error in a periodic message.
  • the main microcomputer 10 that has received the periodic message can perform control processing such as resetting or stopping the slave microcomputer 30 based on the information about the error included in the periodic message.
  • the slave microcomputer 30 can transmit the periodic message, the master microcomputer 10 can grasp the situation that an error has occurred.
  • FIG. 2 is a block diagram showing the configuration of the main microcomputer 10 according to the first embodiment.
  • the main microcomputer 10 according to the first embodiment includes a processor 11, a memory 12, a CAN communication unit 13, an I / F (interface) unit 14, and the like.
  • the processor 11 is an arithmetic processing unit that performs various arithmetic processes by reading and executing a program stored in the memory 12.
  • the memory 12 is configured using a nonvolatile memory element such as an EEPROM (Electrically Erasable Programmable Read Only Memory) or a flash memory, and stores various programs executed by the processor 11 and data necessary for executing the programs.
  • EEPROM Electrical Erasable Programmable Read Only Memory
  • the CAN communication unit 13 transmits and receives messages based on the CAN communication standard.
  • the main microcomputer 10 includes two CAN communication units 13. Each of the two CAN communication units 13 is connected to a communication line, and transmits / receives a message to / from the ECU 2b connected to the communication line.
  • the CAN communication unit 13 transmits the message given from the processor 11 to the ECU 2b via the communication line.
  • the CAN communication part 13 gives the message received from ECU2b to the processor 11 via the communication line.
  • the I / F unit 14 performs communication and signal exchange with the slave microcomputer 30.
  • the I / F unit 14 is connected to the slave microcomputer 30 via a plurality of wires provided on the circuit board of the gateway 3.
  • the I / F unit 14 transmits and receives messages to and from the slave microcomputer 30 in accordance with the MII communication standard.
  • the I / F unit 14 transmits a message given from the processor 11 to the slave microcomputer 30, receives a message from the slave microcomputer 30, and gives it to the processor 11.
  • the I / F unit 14 outputs each signal of a start instruction, reset, and power control to the slave microcomputer 30 in accordance with the control of the processor 11.
  • FIG. 3 is a block diagram showing a configuration of the slave microcomputer 30 according to the first embodiment.
  • the slave microcomputer 30 according to the first embodiment includes a processor 31, a memory 32, an Ethernet communication unit 33, an I / F unit 34, and the like.
  • the processor 31 is an arithmetic processing unit that performs various arithmetic processes by reading and executing a program stored in the memory 32.
  • the memory 32 is configured by using a non-volatile memory element such as an EEPROM or a flash memory, and stores various programs executed by the processor 31 and data necessary for executing the programs.
  • the memory 32 can store two programs to be executed by the processor 31 (shown as program A and program B in FIG. 3).
  • the processor 31 reads out one of the programs from the memory 32 and executes it based on the activation instruction signal given from the main microcomputer 10.
  • the Ethernet communication unit 33 transmits and receives messages based on the Ethernet communication standard.
  • the slave microcomputer 30 includes a plurality of Ethernet communication units 33. However, in FIG. 3, only the three Ethernet communication units 33 are illustrated in a simplified configuration.
  • Each of the plurality of Ethernet communication units 33 is connected to a communication line, and transmits / receives a message to / from the ECU 2a connected to the communication line.
  • the Ethernet communication unit 33 transmits the message given from the processor 31 to the ECU 2a via the communication line. Further, the Ethernet communication unit 33 gives the message received from the ECU 2a to the processor 31 via the communication line.
  • the I / F unit 34 performs communication and signal exchange with the main microcomputer 10.
  • the I / F unit 34 is connected to the main microcomputer 10 via a plurality of wires provided on the circuit board of the gateway 3.
  • the I / F unit 34 transmits and receives messages to and from the main microcomputer 10 in accordance with the MII communication standard.
  • the I / F unit 34 transmits a message given from the processor 31 to the main microcomputer 10, receives a message from the main microcomputer 10, and gives it to the processor 31. Further, the I / F unit 34 acquires the state of each of the start instruction, reset, and power control signals output from the main microcomputer 10 (whether it is high level or low level), and sends the acquired signal state to the processor 31. give.
  • FIG. 4 is a schematic diagram showing a configuration of messages transmitted and received between the main microcomputer 10 and the sub-microcomputer 30.
  • a message transmitted / received between the main microcomputer 10 and the sub-microcomputer 30 includes an Ethernet header, an inter-microcomputer communication header, data, a footer, and the like.
  • the illustrated message configuration is a common configuration for messages that are normally transmitted and received by the main microcomputer 10 and the sub-microcomputer 30 and periodic messages that the sub-microcomputer 30 transmits to the main microcomputer 10.
  • a message transmitted / received between the main microcomputer 10 and the sub-microcomputer 30 conforms to the Ethernet MII communication standard, and the Ethernet header included in the message includes information conforming to the communication standard, such as a transmission / reception source address and a message type. Contains information.
  • the inter-microcomputer communication header included in the message is information unique to the first embodiment, and includes information such as ACK presence / absence, retransmission flag, sequence number, data size, and data type.
  • the data is arbitrary data to be transmitted / received between the main microcomputer 10 and the slave microcomputer 30.
  • the footer is predetermined data indicating the end of the message.
  • the information on the presence or absence of ACK in the communication header between microcomputers is information indicating whether or not the receiving side needs to make a response indicating that the message has been received, that is, ACK.
  • the retransmission flag is a flag indicating that this message is transmitted for the second time or more.
  • As the sequence number a number for identifying a message between the main microcomputer 10 and the slave microcomputer 30 is set.
  • the data size is set to the size of data following the communication header between microcomputers.
  • the data type the type of this message is set.
  • the periodic message transmitted from the slave microcomputer 30 to the main microcomputer 10 is distinguished by setting information indicating that it is a periodic message in the data type of the communication header between microcomputers.
  • the data of the periodic message includes information indicating which of the two programs stored in the memory 32 is the program executed by the processor 31 of the slave microcomputer 30 as described above. Furthermore, when an error occurs in the slave microcomputer 30, information regarding this error is included in the data of the periodic message.
  • the error that occurs in the slave microcomputer 30 may be, for example, a register setting error of the slave microcomputer 30, a read / write error in the memory 32, an Ethernet communication error, or the like.
  • information indicating the presence / absence of an error and the type of error can be set as information relating to the error.
  • FIG. 5 is a flowchart showing a procedure of processing performed when the main microcomputer 10 according to the first embodiment is activated.
  • the processor 11 of the main microcomputer 10 according to the first embodiment reads out and executes a program from the memory 12 when, for example, power supply to the gateway 3 is started and a power-on reset or the like is canceled, which is necessary for processing. It performs its own startup processing such as setting of initial values (step S1). After completing its own activation process, the processor 11 determines which program the slave microcomputer 30 should execute, and outputs a signal indicating activation based on this determination (step S2). For example, the main microcomputer 10 memorizes whether the latest program of the microcomputer 30 is the program A or the program B according to the memory 32, and the program to be executed by the processor 11 based on the stored information in step S2. Can be determined.
  • the processor 11 turns on the power supply of the slave microcomputer 30 by switching the power control signal to the slave microcomputer 30 from the low level to the high level (step S3). Thereafter, the processor 11 releases the reset of the slave microcomputer 30 by switching the reset signal to the slave microcomputer 30 from the low level to the high level (step S4), and ends the process at the time of activation.
  • FIG. 6 is a flowchart showing a procedure of processing performed when the slave microcomputer 30 according to the first embodiment is activated.
  • the slave microcomputer 30 according to the first embodiment starts processing according to the power-on control by the main microcomputer 10.
  • the processor 31 of the slave microcomputer 30 determines whether or not the reset has been canceled based on the reset signal from the main microcomputer 10 (step S11). If the reset is not released (S11: NO), the processor 31 waits until the reset is released.
  • the processor 31 obtains an activation instruction based on a signal input from the main microcomputer 10 (step S12).
  • the processor 31 reads out the program designated in the acquired activation instruction from the memory 32 and executes it (step S13), and ends the process at the time of activation.
  • FIG. 7 is a flowchart showing a procedure of periodic message transmission processing performed by the slave microcomputer 30 according to the first embodiment.
  • the processor 31 of the slave microcomputer 30 according to the first embodiment has a built-in timer function and the like, and determines whether or not a predetermined time has elapsed since activation or transmission of the previous periodic message (step S21). If the predetermined time has not elapsed (S21: NO), the processor 31 waits until the predetermined time elapses.
  • the processor 31 collects activation information indicating whether the program being executed at that time is the program A or the program B stored in the memory 32 (Ste S22). Further, the processor 31 collects error information such as whether or not an error has occurred in its own processing, and if an error has occurred (step S23). The processor 31 generates a periodic message including the collected activation information and error information in the data (step S24). The processor 31 transmits the periodic message to the main microcomputer 10 by giving the generated periodic message to the I / F unit 34 (step S25), and returns the process to step S21.
  • FIG. 8 is a flowchart showing a control processing procedure based on a periodic message performed by the main microcomputer 10 according to the first embodiment.
  • the processor 11 of the main microcomputer 10 according to the first embodiment determines whether or not the periodic message is received from the slave microcomputer 30 at the I / F unit 14 (step S31).
  • the processor 11 determines whether or not a predetermined time or more has elapsed since the previous periodic message was received (step S32).
  • the predetermined time used for this determination may be 1 second, which is the transmission cycle of the periodic message, or may be longer than the transmission cycle (for example, 3 seconds).
  • the processor 11 returns the process to step S31 and receives the periodic message or until the predetermined time or more has elapsed since the previous reception. stand by.
  • the processor 11 acquires activation information included in the data of the periodic message (step S33). Further, if the error information is included in the data of the received periodic message, the processor 11 acquires this (step S34). The processor 11 determines whether or not there is an abnormality in the slave microcomputer 30 based on the acquired startup information and error information (step S35). Here, the processor 11 can determine that there is an abnormality in the slave microcomputer 30 when there is a difference between the acquired startup information and the startup instruction output by itself. Further, the processor 11 can determine that the slave microcomputer 30 has an abnormality when error information is included in the periodic message. If there is no abnormality in the slave microcomputer 30 (S35: NO), the processor 11 returns the process to step S31.
  • step S36 If there is an abnormality in the slave microcomputer 30 (S35: YES), the processor 11 advances the process to step S36. On the other hand, if a predetermined time or more has elapsed since the last periodic message was received (S32: YES), the processor 11 determines that the slave microcomputer 30 has an abnormality, and proceeds to step S36.
  • the processor 11 resets the slave microcomputer 30 by switching the reset signal output from the I / F unit 14 from high level to low level (step S36). Thereafter, the processor 11 cancels the reset and restarts the slave microcomputer 30, and whether or not the abnormality of the slave microcomputer 30 has been resolved based on the presence / absence of the periodic message from the restarted slave microcomputer 30 and the contents thereof. Is determined (step S37).
  • Step S38 the process ends.
  • the gateway 3 includes two microcomputers, the main microcomputer 10 and the slave microcomputer 30.
  • the main microcomputer 10 controls the activation of the slave microcomputer 30.
  • the main microcomputer 10 performs communication processing related to CAN, and the slave microcomputer 30 performs communication processing related to Ethernet.
  • the slave microcomputer 30 transmits a periodic message (predetermined signal) to the main microcomputer 10 at a cycle of once per second, for example.
  • the main microcomputer 10 controls the operation of the slave microcomputer 30 according to the periodic message from the slave microcomputer 30. Accordingly, the main microcomputer 10 can periodically grasp the operation status of the sub-microcomputer 30 based on the periodic message from the sub-microcomputer 30.
  • the main microcomputer 10 of the gateway 3 performs predetermined control on the slave microcomputer 30 when the periodic message from the slave microcomputer 30 is not received for a predetermined time.
  • the state in which the periodic message is not received from the slave microcomputer 30 continues for a predetermined time, it can be estimated that an abnormality has occurred in the slave microcomputer 30.
  • the main microcomputer 10 performs predetermined control, it is possible to cope with an abnormality of the slave microcomputer 30.
  • the main microcomputer 10 performs control to restart (reset) or stop (power off) the sub-microcomputer 30 as predetermined control performed when the periodic message is not received from the sub-microcomputer 30 for a predetermined time.
  • restart there is a possibility that the slave microcomputer 30 in which an abnormality has occurred returns to a normal state.
  • stop it is possible to suppress the abnormality of the slave microcomputer 30 from adversely affecting the main microcomputer 10 and the ECU 2a.
  • the processor 31 selects and executes one of the two programs stored in the memory 32. Which program the processor 31 of the slave microcomputer 30 executes is selected according to a selection instruction (start-up instruction) from the main microcomputer 10.
  • the sub-microcomputer 30 includes information indicating which program the processor 31 is executing in the periodic message and transmits it to the main microcomputer 10. As a result, the main microcomputer 10 that has received the periodic message can grasp which program the slave microcomputer 30 is executing, and can recognize whether the program instructed by itself is being executed.
  • the program executed by the processor 31 of the slave microcomputer 30 may need to be updated for the purpose of version upgrade or defect correction, for example, and the master microcomputer 10 performs the process of updating the program executed by the slave microcomputer 30.
  • the main microcomputer 10 stores a new program in the memory 32 of the slave microcomputer 30.
  • a plurality of programs can be stored in the memory 32 of the slave microcomputer 30, and a program before update and a program after update can be stored.
  • the main microcomputer 10 gives a selection instruction to execute the updated program to the slave microcomputer 30, so that the slave microcomputer 30 stores the updated program stored in the memory 32. Can be executed.
  • the slave microcomputer 30 transmits information related to an error that has occurred in its own processing included in the periodic message.
  • the main microcomputer 10 that has received the periodic message can grasp the error that has occurred in the slave microcomputer 30, and can perform processing such as recovery from the error.
  • FIG. 9 is a block diagram illustrating a configuration of the gateway 3 according to the second embodiment. As shown in FIG. 9, power is supplied to the gateway 3 from the battery 4 of the vehicle 1.
  • the gateway 3 is further provided with a first power supply circuit 40, a switch 41, and a second power supply circuit 42.
  • the positive electrode of the battery 4 is connected to the main microcomputer 10 via the first power supply circuit 40.
  • the negative electrode of the battery 4 is grounded.
  • One end of the switch 41 is connected to the first power supply circuit 40, and the other end of the switch 41 is connected to the slave microcomputer 30 and the second power supply circuit 42.
  • the second power supply circuit 42 is further connected to the slave microcomputer 30.
  • Electric power is supplied from the battery 4 to the main microcomputer 10 via the first power supply circuit 40.
  • the switch 41 When the switch 41 is turned on, power is supplied to the slave microcomputer 30 via the first power supply circuit 40 and the second power supply circuit 42, and when the switch 41 is turned off, the supply of power is cut off. On / off of the switch 41 is controlled by the main microcomputer 10.
  • the battery 4 is, for example, a 12V battery.
  • the first power supply circuit 40 is, for example, a switching regulator, and converts the voltage supplied from the battery 4 to 3.3 V and outputs it.
  • the second power supply circuit 42 is, for example, a linear regulator, and converts the voltage output from the first power supply circuit 40 to 1.0 V and outputs it to the slave microcomputer 30 when the switch 41 is turned on. Electric power is supplied to the slave microcomputer 30 from the first power supply circuit 40 and the second power supply circuit 42.
  • FIG. 10 is a block diagram showing a configuration of the slave microcomputer 30 according to the second embodiment.
  • the slave microcomputer 30 includes a processor 31, a memory 32, an Ethernet communication unit 33, and an I / F unit 34.
  • the slave microcomputer 30 further includes an abnormality detection unit 35.
  • the power from the second power supply circuit 42 is supplied to the core components of the processor 31, and the power from the first power supply circuit 40 is supplied to the other components.
  • the abnormality detection unit 35 outputs a signal indicating abnormality to the processor 31 when the voltage supplied from the first power supply circuit 40 and the second power supply circuit 42 is less than the threshold value. That is, the abnormality detection unit 35 detects an abnormality in which the supplied voltage is in a low voltage state.
  • the abnormality detection unit 35 includes, for example, a comparator, compares the voltage input to the slave microcomputer 30 by the comparator and the threshold voltage, and detects an abnormality based on the comparison result.
  • the threshold value related to the voltage is set to, for example, a lower limit value of the voltage related to the guarantee of the operation predetermined in the slave microcomputer 30.
  • the abnormality detection unit 35 may detect an abnormality related to the high voltage instead of or in addition to the detection of the abnormality related to the low voltage.
  • the abnormality relating to the high voltage means that a voltage exceeding the upper limit value of a predetermined voltage range relating to the guarantee of the predetermined operation is input to the slave microcomputer 30.
  • the abnormality relating to the high voltage is, for example, using a comparator, setting the threshold value related to the abnormality detection unit 35 as the upper limit value, comparing the supplied voltage and the threshold value, and determining whether or not the supplied voltage exceeds the threshold value. Detected on the basis.
  • the processor 31 stores the input information in the memory 32, for example, and outputs it to the main microcomputer 10 as error information.
  • the processor 31 includes the error information in the periodic message and transmits it to the main microcomputer 10 as shown in steps S23 to S25 of FIG. 7 as in the first embodiment.
  • the error information related to the low voltage abnormality uses, for example, 2 bits for 2 systems of power in the data of the periodic message. In this case, one bit per system is transmitted as to whether or not a low voltage abnormality has occurred.
  • the main microcomputer 10 When the main microcomputer 10 acquires error information related to the low voltage abnormality by receiving the periodic message, as in the first embodiment, the main microcomputer 10 resets or stops the slave microcomputer 30 as shown in steps S34 to S38 in FIG. .
  • the abnormality of the voltage supplied to the battery 4 or the slave microcomputer 30 can be grasped, and the voltage of a value higher or lower than the voltage value range related to the operation predetermined for the slave microcomputer 30 is determined. It is possible to prevent malfunction of the slave microcomputer 30 due to the supply of the value voltage. Further, by detecting the low voltage abnormality by the abnormality detection unit 35, the slave microcomputer 30 is supplied with a voltage having a value lower than a predetermined voltage value range due to a decrease in the supply voltage of the battery 4. It is possible to prevent malfunction of the processing unit.
  • the gateway 3 is configured to include one slave microcomputer 30, but the present invention is not limited to this, and may be configured to include a plurality of slave microcomputers 30.
  • the gateway 3 and the ECUs 2a and 2b are mounted on the vehicle 1.
  • the present technology is not limited to this, and the present technology can be applied to communication devices other than the vehicle.
  • the processing unit for performing processing is a microcomputer
  • the present invention is not limited to this, and various processing units other than the microcomputer may be used.
  • the communication in the vehicle 1 is performed according to the CAN and Ethernet communication standards, the present invention is not limited to this.
  • the communication in the vehicle 1 may be performed according to another communication standard such as FlexRay.
  • the slave microcomputer 30 includes the error information in the periodic message and transmits it to the main microcomputer 10.
  • the present invention is not limited to this, and the periodic message may not include the error information.
  • the main microcomputer 10 has one power supply and the slave microcomputer 30 has two power systems.
  • the power supply to the main microcomputer 10 and the slave microcomputer 30 is not limited to this. Each of them may be a single system or a plurality of systems.

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Abstract

A communication device and a control method are provided such that in a configuration comprising multiple processing units having a master-subordinate relationship therebetween, the master processing unit can perform control processing of an abnormality that has occurred in the subordinate processing unit. A communication device pertaining to the present embodiment is provided with a master processing unit and a subordinate processing unit. The subordinate processing unit performs communication-related processing, and the master processing unit controls activation of the subordinate processing unit. The subordinate processing unit periodically transmits a signal to the master processing unit, and the master processing unit controls the operations of the subordinate processing unit in accordance with the signal periodically transmitted by the subordinate processing unit.

Description

通信装置及び制御方法Communication apparatus and control method
　本開示は、複数の処理部を備える通信装置及びこれらの処理部の制御方法に関する。 The present disclosure relates to a communication device including a plurality of processing units and a method for controlling these processing units.
　従来、車両に搭載された複数のＥＣＵ（Electronic Control Unit）などの装置は、ＣＡＮ（Controller Area Network）又はイーサネット（登録商標）等の通信規格に従った通信を行っている。複数のＥＣＵは通信により情報を交換し、車両の制御などを協働して行っている。また近年では、車両に搭載されるＥＣＵの数が増大しており、車両内に複数のネットワークグループが設けられ、グループ間の通信をゲートウェイなどの装置が中継する構成が採用されている。 Conventionally, devices such as a plurality of ECUs (Electronic Control Units) mounted on a vehicle perform communication according to a communication standard such as CAN (Controller Area Network) or Ethernet (registered trademark). A plurality of ECUs exchange information through communication and cooperate in vehicle control and the like. In recent years, the number of ECUs mounted on a vehicle has increased, and a configuration in which a plurality of network groups are provided in a vehicle and a device such as a gateway relays communication between the groups has been adopted.
　特許文献１においては、通信条件又は通信状況に合わせて通信パラメータを決定するナビゲーション装置が記載されている。このナビゲーション装置は、サーバ装置に対してメッセージを送信し、このメッセージに対する応答メッセージをサーバ装置から受信する。ナビゲーション装置は、メッセージの送信から応答メッセージの受信までの時間に基づいて、通信時間に関する通信状態を示すレスポンス値を計測する。ナビゲーション装置は、計測したレスポンス値に基づいて最適な通信パラメータを決定し、通信切断条件に関する通信パラメータに当該最適な通信パラメータを設定する。 Patent Document 1 describes a navigation device that determines communication parameters in accordance with communication conditions or communication conditions. The navigation device transmits a message to the server device, and receives a response message for the message from the server device. The navigation device measures a response value indicating a communication state related to the communication time based on the time from the transmission of the message to the reception of the response message. The navigation device determines an optimal communication parameter based on the measured response value, and sets the optimal communication parameter in the communication parameter related to the communication disconnection condition.
特許第５０３００６３号公報Japanese Patent No. 5030063
　ＥＣＵ又はゲートウェイ等の通信装置において、プログラムを実行して処理を行うマイコン（マイクロコントローラ）などの処理部を複数備える構成とすることが考えられる。処理部を複数備えることによって、例えば処理負荷の分散などが期待できる。しかし、一の処理部において故障などの異常が発生した場合に、他の処理部の動作に悪影響を与えるという問題がある。 It is conceivable that a communication device such as an ECU or a gateway includes a plurality of processing units such as a microcomputer (microcontroller) that executes processing by executing a program. By providing a plurality of processing units, for example, distribution of processing load can be expected. However, when an abnormality such as a failure occurs in one processing unit, there is a problem that the operation of another processing unit is adversely affected.
　本開示は、斯かる事情に鑑みてなされたものであって、その目的とするところは、特に主従関係がある複数の処理部を備える構成において、従処理部にて生じた異常などに対する制御処理を主処理部が行うことができる通信装置及び制御方法を提供することにある。 The present disclosure has been made in view of such circumstances, and the object of the present disclosure is to control processing for an abnormality or the like that occurs in the slave processing unit in a configuration including a plurality of processing units that have a master-slave relationship. Is to provide a communication device and a control method that can be performed by a main processing unit.
　本態様に係る通信装置は、主処理部と、従処理部とを備え、前記従処理部は、通信に係る処理を行い、前記主処理部は、前記従処理部の起動を制御し、前記従処理部は、周期的に前記主処理部へ信号を送信し、前記主処理部は、前記従処理部が周期的に送信する信号に応じて前記従処理部の動作を制御する。 The communication device according to this aspect includes a main processing unit and a sub processing unit, the sub processing unit performs processing related to communication, the main processing unit controls activation of the sub processing unit, The slave processing unit periodically transmits a signal to the main processing unit, and the main processing unit controls the operation of the slave processing unit in accordance with a signal periodically transmitted by the slave processing unit.
　本態様に係る制御方法は、通信に係る処理を行う従処理部と、前記従処理部の起動を制御する主処理部とを備える通信装置が、前記従処理部にて、周期的に前記主処理部へ信号を送信し、前記主処理部にて、前記従処理部から周期的に送信される信号に応じて、前記従処理部の動作を制御する。 In the control method according to this aspect, a communication device including a slave processing unit that performs processing related to communication and a main processing unit that controls activation of the slave processing unit is periodically executed by the slave processing unit. A signal is transmitted to the processing unit, and the operation of the slave processing unit is controlled by the main processing unit in accordance with a signal periodically transmitted from the slave processing unit.
　なお、本願は、このような特徴的な処理部を備える通信装置として実現することができるだけでなく、かかる特徴的な処理をステップとする制御方法として実現したり、かかるステップをコンピュータに実行させるためのコンピュータプログラムとして実現したりすることができる。また、通信装置の一部又は全部を実現する半導体集積回路として実現したり、通信装置を含むその他の装置又はシステムとして実現したりすることができる。 Note that the present application can be realized not only as a communication device including such a characteristic processing unit, but also as a control method using such characteristic processing as a step, or for causing a computer to execute such a step. Or as a computer program. Further, it can be realized as a semiconductor integrated circuit that realizes part or all of the communication device, or can be realized as another device or system including the communication device.
　上記によれば、従処理部にて生じた異常などに対する制御処理を主処理部が行うことが可能となる。 According to the above, the main processing unit can perform control processing for an abnormality or the like that has occurred in the sub processing unit.
実施の形態１に係るゲートウェイの構成を示すブロック図である。3 is a block diagram showing a configuration of a gateway according to Embodiment 1. FIG. 実施の形態１に係る主マイコンの構成を示すブロック図である。3 is a block diagram showing a configuration of a main microcomputer according to the first embodiment. FIG. 実施の形態１に係る従マイコンの構成を示すブロック図である。3 is a block diagram showing a configuration of a slave microcomputer according to the first embodiment. FIG. 主マイコン及び従マイコンの間で送受信されるメッセージの構成を示す模式図である。It is a schematic diagram which shows the structure of the message transmitted / received between the main microcomputer and a submicrocomputer. 実施の形態１に係る主マイコンが起動時に行う処理の手順を示すフローチャートである。3 is a flowchart showing a procedure of processing performed by the main microcomputer according to the first embodiment when it is activated. 実施の形態１に係る従マイコンが起動時に行う処理の手順を示すフローチャートである。4 is a flowchart showing a procedure of processing performed by the slave microcomputer according to the first embodiment when it is activated. 実施の形態１に係る従マイコンが行う周期メッセージの送信処理の手順を示すフローチャートである。4 is a flowchart illustrating a procedure of a periodic message transmission process performed by the slave microcomputer according to the first embodiment. 実施の形態１に係る主マイコンが行う周期メッセージに基づく制御処理の手順を示すフローチャートである。4 is a flowchart showing a procedure of control processing based on a periodic message performed by the main microcomputer according to the first embodiment. 実施の形態２に係るゲートウェイの構成を示すブロック図である。6 is a block diagram illustrating a configuration of a gateway according to Embodiment 2. FIG. 実施の形態２に係る従マイコンの構成を示すブロック図である。6 is a block diagram illustrating a configuration of a slave microcomputer according to a second embodiment. FIG.
［本開示の実施の形態の説明］
　最初に本開示の実施態様を列記して説明する。また、以下に記載する実施形態の少なくとも一部を任意に組み合わせてもよい。 [Description of Embodiment of Present Disclosure]
First, embodiments of the present disclosure will be listed and described. Moreover, you may combine arbitrarily at least one part of embodiment described below.
（１）本態様に係る通信システムは、主処理部と、従処理部とを備え、前記従処理部は、通信に係る処理を行い、前記主処理部は、前記従処理部の起動を制御し、前記従処理部は、周期的に前記主処理部へ信号を送信し、前記主処理部は、前記従処理部が周期的に送信する信号に応じて前記従処理部の動作を制御する。 (1) A communication system according to this aspect includes a main processing unit and a sub processing unit, the sub processing unit performs processing related to communication, and the main processing unit controls activation of the sub processing unit. The slave processor periodically transmits a signal to the main processor, and the master processor controls the operation of the slave processor according to a signal periodically transmitted by the slave processor. .
　本態様にあっては、通信装置は主処理部及び従処理部の２つの処理部を備える。主処理部は、従処理部の起動を制御する。従処理部は、通信に係る処理を行う。また従処理部は、周期的に所定の信号を主処理部へ送信する。主処理部は、従処理部が周期的に送信する信号に応じて、従処理部の動作を制御する。
　これにより主処理部は、従処理部から周期的に送信される信号に基づいて、従処理部の動作状況などを周期的に把握することができる。 In this aspect, the communication apparatus includes two processing units, a main processing unit and a sub processing unit. The main processing unit controls activation of the sub processing unit. The slave processing unit performs processing related to communication. The slave processing unit periodically transmits a predetermined signal to the main processing unit. The main processing unit controls the operation of the sub processing unit according to a signal periodically transmitted by the sub processing unit.
Accordingly, the main processing unit can periodically grasp the operation status of the sub processing unit based on the signal periodically transmitted from the sub processing unit.
（２）前記主処理部は、所定時間に亘って前記信号を受信しない場合に、前記従処理部に対する所定の制御を行うことが好ましい。 (2) When the main processing unit does not receive the signal for a predetermined time, it is preferable to perform predetermined control on the sub processing unit.
　本態様にあっては、従処理部が周期的に送信する信号を、主処理部が所定時間に亘って受信しない場合に、従処理部に対して所定の制御を行う。従処理部から周期的な信号を受信しない状態が所定時間に亘って継続する場合、従処理部に異常が発生したと推測することができる。このような場合に主処理部が所定の制御を行うことによって、従処理部の異常に対応することが可能となる。 In this aspect, when the main processing unit does not receive the signal periodically transmitted by the sub processing unit for a predetermined time, the sub processing unit performs predetermined control. When the state in which no periodic signal is received from the slave processing unit continues for a predetermined time, it can be estimated that an abnormality has occurred in the slave processing unit. In such a case, when the main processing unit performs predetermined control, it is possible to cope with an abnormality in the sub processing unit.
（３）前記主処理部は、前記所定の制御として、前記従処理部の再起動又は停止する制御を行うことが好ましい。 (3) It is preferable that the main processing unit performs control to restart or stop the sub processing unit as the predetermined control.
　本態様にあっては、従処理部からの周期的な信号を受信しない場合に主処理部が行う所定の制御を、従処理部を再起動又は停止する制御とする。再起動の制御を行うことにより、異常が発生した従処理部が通常の状態へ復帰する可能性がある。また停止の制御を行うことにより、従処理部の異常が主処理部及び他の装置等に悪影響を与えることを抑制できる。 In this aspect, the predetermined control performed by the main processing unit when the periodic signal from the sub processing unit is not received is the control for restarting or stopping the sub processing unit. By performing the restart control, there is a possibility that the slave processing unit in which the abnormality has occurred returns to the normal state. Further, by controlling the stop, it is possible to suppress the abnormality of the slave processing unit from adversely affecting the main processing unit and other devices.
（４）前記従処理部は、記憶部に記憶された複数のプログラムを選択的に実行し、前記主処理部は、前記従処理部がいずれのプログラムを実行するかの選択指示を与え、前記従処理部が周期的に送信する信号には、いずれのプログラムを実行しているかを示す情報を含むことが好ましい。 (4) The slave processing unit selectively executes a plurality of programs stored in a storage unit, the main processing unit gives an instruction to select which program the slave processing unit executes, It is preferable that the signal periodically transmitted by the sub processor includes information indicating which program is being executed.
　本態様にあっては、記憶部に記憶された複数のプログラムの中から従処理部がいずれか１つを選択して実行する。従処理部がいずれのプログラムを実行するかは、主処理部の選択指示に応じて選択される。従処理部は、周期的な信号を送信する際に、いずれのプログラムを実行しているかを示す情報を信号に含める。これにより、周期的な信号を受信した主処理部は、従処理部がいずれのプログラムを実行しているかを把握することができ、自らが指示したプログラムが実行されているかを把握することができる。 In this mode, the slave processing unit selects and executes one of a plurality of programs stored in the storage unit. Which program is executed by the sub processor is selected in accordance with a selection instruction from the main processor. When the sub processor transmits a periodic signal, the sub processor includes information indicating which program is being executed in the signal. As a result, the main processing unit that has received the periodic signal can grasp which program is being executed by the sub-processing unit, and can grasp whether the program instructed by itself is being executed. .
（５）前記主処理部は、前記従処理部が実行するプログラムを更新する処理を行い、前記複数のプログラムには、更新前のプログラム及び更新後のプログラムを含むことが好ましい。 (5) It is preferable that the main processing unit performs a process of updating a program executed by the slave processing unit, and the plurality of programs include a program before update and a program after update.
　本態様にあっては、従処理部が実行するプログラムは例えばバージョンアップ又は不具合修正等の目的で更新する必要が生じる場合があり、従処理部が実行するプログラムを更新する処理を主処理部が行う。更新処理において主処理部は、新たなプログラムを従処理部の記憶部に記憶させる。従処理部のプログラムが記憶される記憶部には、複数のプログラムを記憶しておくことが可能であり、更新前のプログラムと更新後のプログラムとを記憶しておくことができる。更新後のプログラムの記憶を完了した後、主処理部が従処理部に更新後のプログラムを記憶部から読み出して実行する選択指示を与えることで、従処理部は記憶部に記憶された更新後のプログラムを実行することができる。 In this aspect, the program executed by the sub processor may need to be updated for the purpose of version upgrade or defect correction, for example, and the main processor performs the process of updating the program executed by the sub processor. Do. In the update process, the main processing unit stores a new program in the storage unit of the slave processing unit. A plurality of programs can be stored in the storage unit in which the programs of the slave processing unit are stored, and the program before the update and the program after the update can be stored. After the storage of the updated program is completed, the main processing unit gives the sub-processing unit a selection instruction to read and execute the updated program from the storage unit, so that the sub-processing unit stores the updated program stored in the storage unit. Can be executed.
（６）前記従処理部が周期的に送信する信号には、前記従処理部の処理にて発生したエラーに関する情報を含むことが好ましい。 (6) It is preferable that the signal periodically transmitted by the sub processor includes information on an error that has occurred in the processing of the sub processor.
　本態様にあっては、従処理部は、周期的な信号を送信する際に、自身の処理にて発生したエラーに関する情報を含める。これにより、周期的な信号を受信した主処理部は、従処理部にて発生したエラーを把握することができ、エラーからの復帰などの処理を行うことが可能となる。 In this aspect, the slave processing unit includes information on an error that has occurred in its own processing when transmitting a periodic signal. As a result, the main processing unit that has received the periodic signal can grasp the error that has occurred in the sub-processing unit, and can perform processing such as recovery from the error.
（７）前記エラーに関する情報は、前記従処理部に供給される電圧の異常に関する情報であることが好ましい。 (7) It is preferable that the information regarding the error is information regarding an abnormality in a voltage supplied to the slave processing unit.
　本態様にあっては、従処理部に供給される電圧の異常を把握することができるので、従処理部に予め定められた動作に係る電圧値の範囲よりも高い値の電圧又は低い値の電圧が供給されることによる従処理部の動作不良を防止することができる。 In this aspect, since it is possible to grasp the abnormality of the voltage supplied to the slave processing unit, a voltage having a higher value or a lower value than the voltage value range related to the operation predetermined for the slave processing unit. It is possible to prevent malfunction of the slave processing unit due to the supply of voltage.
（８）前記電圧の異常は、前記電圧の値が所定値未満に低下することであることが好ましい。 (8) It is preferable that the abnormality of the voltage is that the value of the voltage falls below a predetermined value.
　本態様にあっては、従処理部に供給される低電圧の異常を把握することができるので、バッテリからの供給電圧の低下により、従処理部に予め定められた電圧値の範囲よりも低い値の電圧が供給されることによる従処理部の動作不良を防ぐことができる。 In this aspect, since the abnormality of the low voltage supplied to the slave processing unit can be grasped, the voltage value lower than the range of the voltage value predetermined for the slave processing unit due to the decrease in the supply voltage from the battery. It is possible to prevent malfunction of the slave processing unit due to the supply of the value voltage.
（９）本態様に係る制御方法は、通信に係る処理を行う従処理部と、前記従処理部の起動を制御する主処理部とを備える通信装置が、前記従処理部にて、周期的に前記主処理部へ信号を送信し、前記主処理部にて、前記従処理部から周期的に送信される信号に応じて、前記従処理部の動作を制御する。 (9) In the control method according to this aspect, a communication device including a slave processing unit that performs processing related to communication and a main processing unit that controls activation of the slave processing unit is periodically executed by the slave processing unit. A signal is transmitted to the main processing unit, and the main processing unit controls the operation of the sub processing unit according to a signal periodically transmitted from the sub processing unit.
　本態様にあっては、態様（１）と同様に、主処理部は、従処理部から周期的に送信される信号に基づいて、従処理部の動作状況などを周期的に把握することができる。 In this mode, as in mode (1), the main processing unit can periodically grasp the operation status of the sub processing unit based on the signal periodically transmitted from the sub processing unit. it can.
［本開示の実施形態の詳細］
　本開示の実施形態に係る通信装置の具体例を、以下に図面を参照しつつ説明する。なお、本開示はこれらの例示に限定されるものではなく、請求の範囲によって示され、請求の範囲と均等の意味及び範囲内でのすべての変更が含まれることが意図される。 [Details of Embodiment of the Present Disclosure]
A specific example of the communication apparatus according to the embodiment of the present disclosure will be described below with reference to the drawings. In addition, this indication is not limited to these illustrations, is shown by the claim, and it is intended that all the changes within the meaning and range equivalent to the claim are included.
（実施の形態１）
　図１は、実施の形態１に係るゲートウェイの構成を示すブロック図である。実施の形態１に係るゲートウェイ３は、車両１に搭載されている。車両１には複数のＥＣＵ２ａ，２ｂが搭載されており、複数のＥＣＵ２ａ，２ｂはＣＡＮ又はイーサネットの通信規格に従って通信を行うことができる。ゲートウェイ３は、これら複数のＥＣＵ２ａ，２ｂの間のメッセージ送受信を中継する処理を行う通信装置である。実施の形態１においては、ＥＣＵ２ａはイーサネットの通信規格で通信を行い、ＥＣＵ２ｂはＣＡＮの通信規格で通信を行うものとする。ゲートウェイ３は、イーサネット用の通信線を介してＥＣＵ２ａに接続されると共に、ＣＡＮ用の通信線（ＣＡＮバス）を介してＥＣＵ２ｂに接続されている。 (Embodiment 1)
FIG. 1 is a block diagram illustrating a configuration of a gateway according to the first embodiment. The gateway 3 according to the first embodiment is mounted on the vehicle 1. A plurality of ECUs 2a and 2b are mounted on the vehicle 1, and the plurality of ECUs 2a and 2b can communicate according to a CAN or Ethernet communication standard. The gateway 3 is a communication device that performs processing for relaying message transmission and reception between the plurality of ECUs 2a and 2b. In the first embodiment, the ECU 2a communicates with the Ethernet communication standard, and the ECU 2b communicates with the CAN communication standard. The gateway 3 is connected to the ECU 2a via an Ethernet communication line and is also connected to the ECU 2b via a CAN communication line (CAN bus).
　ゲートウェイ３は、主マイコン１０及び従マイコン３０の２つのマイコンを備えている。マイコンは、例えばプロセッサ、メモリ及び通信ユニット等が１つのＩＣ（Integrated Circuit）として構成されたものであり、予め記憶したプログラムを実行することによって種々の演算処理及び制御処理等を行うことができる。実施の形態１に係るゲートウェイ３は、例えば主マイコン１０及び従マイコン３０が１つの回路基板に搭載され、回路基板上に形成された配線を介して信号の授受が行われる。また回路基板にはイーサネット及びＣＡＮの通信線を接続するためのコネクタが複数搭載されており、これらの各コネクタと主マイコン１０又は従マイコン３０とが回路基板上の配線を介して接続されている。コネクタに通信線が接続されることにより、主マイコン１０及び従マイコン３０は通信線を介してＥＣＵ２ａ，２ｂとの通信を行うことができる。 The gateway 3 includes two microcomputers, a main microcomputer 10 and a slave microcomputer 30. The microcomputer includes, for example, a processor, a memory, a communication unit, and the like configured as a single IC (Integrated Circuit), and can perform various arithmetic processing and control processing by executing a program stored in advance. In the gateway 3 according to the first embodiment, for example, the main microcomputer 10 and the sub-microcomputer 30 are mounted on one circuit board, and signals are transmitted and received through wiring formed on the circuit board. In addition, a plurality of connectors for connecting Ethernet and CAN communication lines are mounted on the circuit board, and these connectors and the main microcomputer 10 or the sub microcomputer 30 are connected via wiring on the circuit board. . By connecting the communication line to the connector, the main microcomputer 10 and the slave microcomputer 30 can communicate with the ECUs 2a and 2b via the communication line.
　実施の形態１に係るゲートウェイ３は、主マイコン１０がＣＡＮの通信を行い、従マイコン３０がイーサネットの通信を行う。ただしこの役割分担は一例であって、これに限るものではない。主マイコン１０にはＣＡＮの通信線が複数接続され、各通信線には複数のＥＣＵ２ｂが接続されている。主マイコン１０は、通信線間のメッセージ送受信を中継する処理を行う。同様に従マイコン３０にはイーサネットの通信線が複数接続され、各通信線にはＥＣＵ２ａが接続されている。従マイコン３０は、ＥＣＵ２ａ間のメッセージ送受信を中継する処理を行う。またゲートウェイ３は、ＥＣＵ２ａとＥＣＵ２ｂとの間でのメッセージの送受信を中継することも可能であり、この場合には主マイコン１０及び従マイコン３０の間でメッセージの授受が行われる。 In the gateway 3 according to the first embodiment, the main microcomputer 10 performs CAN communication, and the slave microcomputer 30 performs Ethernet communication. However, this division of roles is an example, and is not limited to this. A plurality of CAN communication lines are connected to the main microcomputer 10, and a plurality of ECUs 2b are connected to each communication line. The main microcomputer 10 performs processing for relaying message transmission / reception between communication lines. Similarly, a plurality of Ethernet communication lines are connected to the microcomputer 30 and an ECU 2a is connected to each communication line. The slave microcomputer 30 performs a process of relaying message transmission / reception between the ECUs 2a. The gateway 3 can also relay the transmission and reception of messages between the ECU 2a and the ECU 2b. In this case, messages are exchanged between the main microcomputer 10 and the sub microcomputer 30.
　主マイコン１０及び従マイコン３０は、通信によりメッセージの送受信を行うことができる（図１において「通信」のラベルを付した太線矢印を参照）。また主マイコン１０は、従マイコン３０の動作を制御するため、起動指示、リセット及び電源制御の信号を従マイコン３０へ出力している（図１において「起動指示」、「リセット」及び「電源制御」のラベルを付した細線矢印を参照）。これらの通信線及び信号線は、主マイコン１０及び従マイコン３０が搭載された回路基板上の配線として実現される。 The main microcomputer 10 and the slave microcomputer 30 can transmit and receive messages by communication (see the thick arrow labeled “Communication” in FIG. 1). Further, the main microcomputer 10 outputs a start instruction, reset and power control signal to the sub microcomputer 30 in order to control the operation of the sub microcomputer 30 (in FIG. 1, “start instruction”, “reset” and “power control”). (See the thin arrow labeled "). These communication lines and signal lines are realized as wiring on a circuit board on which the main microcomputer 10 and the slave microcomputer 30 are mounted.
　主マイコン１０及び従マイコン３０の間で行われる通信には、例えばＭＩＩ（Media Independent Interface）の通信規格が採用され得る。この場合、主マイコン１０及び従マイコン３０の間には、主マイコン１０から従マイコン３０へのメッセージ送信のための通信線と、従マイコン３０から主マイコン１０へのメッセージ送信のための通信線と、通信に関する制御を行うための信号線とが含まれ得る。主マイコン１０及び従マイコン３０は、例えばＥＣＵ２ａからＥＣＵ２ｂへ又はＥＣＵ２ｂからＥＣＵ２ａへと中継すべきメッセージを、この通信により授受することができる。 For communication performed between the main microcomputer 10 and the sub microcomputer 30, for example, a communication standard of MII (Media Independent Interface) can be adopted. In this case, a communication line for message transmission from the main microcomputer 10 to the sub microcomputer 30 and a communication line for message transmission from the sub microcomputer 30 to the main microcomputer 10 are provided between the main microcomputer 10 and the sub microcomputer 30. And a signal line for performing control related to communication. The main microcomputer 10 and the slave microcomputer 30 can send and receive a message to be relayed from the ECU 2a to the ECU 2b or from the ECU 2b to the ECU 2a, for example, by this communication.
　主マイコン１０が出力する起動指示の信号は、従マイコン３０が起動時にメモリから読み出して実行するプログラムの選択を指示する信号である。詳細は後述するが、従マイコン３０のメモリには２つのプログラムが記憶されており、従マイコン３０は起動時にいずれか１つのプログラムを読み出して実行する。この２つのプログラムをプログラムＡ及びプログラムＢとした場合、例えば主マイコン１０が出力する起動指示の信号がローレベルであれば従マイコン３０はプログラムＡを実行し、信号がハイレベルであれば従マイコン３０はプログラムＢを実行する構成とすることができる。実施の形態１においては、起動信号の信号を送受信する信号線は１つであってよいが、例えば従マイコン３０が３つ以上のプログラムを記憶可能である場合又はプログラムの動作モードなどを更に指定可能な場合等には、起動信号の信号を送受信する信号線が複数であってもよい。 The start instruction signal output from the main microcomputer 10 is a signal instructing the selection of a program to be read and executed from the memory when the slave microcomputer 30 is started. Although details will be described later, two programs are stored in the memory of the slave microcomputer 30, and the slave microcomputer 30 reads and executes one of the programs at the time of startup. When these two programs are the program A and the program B, for example, if the activation instruction signal output from the main microcomputer 10 is low level, the slave microcomputer 30 executes the program A, and if the signal is high level, the slave microcomputer 30 30 can be configured to execute the program B. In the first embodiment, the number of signal lines for transmitting and receiving the activation signal may be one. For example, when the slave microcomputer 30 can store three or more programs, the operation mode of the program is further specified. If possible, there may be a plurality of signal lines for transmitting and receiving the activation signal.
　主マイコン１０が出力するリセットの信号は、従マイコン３０の動作をリセット（初期化）する信号である。例えば、リセット信号がローレベルの場合に従マイコン３０はリセットされ、その後にリセット信号がハイレベルに変化することでリセットが解除され、従マイコン３０の動作が開始される。このときに従マイコン３０は、起動指示の信号にて指示されたプログラムを読み出して実行することにより、動作を開始する。 The reset signal output from the main microcomputer 10 is a signal for resetting (initializing) the operation of the slave microcomputer 30. For example, when the reset signal is at a low level, the microcomputer 30 is reset, and when the reset signal subsequently changes to a high level, the reset is released and the operation of the slave microcomputer 30 is started. At this time, the microcomputer 30 starts the operation by reading and executing the program instructed by the activation instruction signal.
　また、主マイコン１０が出力する電源制御の信号は、従マイコン３０の電源（電力供給）をオン／オフする信号である。例えば、電源制御の信号がローレベルの場合に、従マイコン３０は電源オフとなり、停止する。電源制御の信号がハイレベルの場合に従マイコン３０は電源オンとなり、動作する。 The power control signal output from the main microcomputer 10 is a signal for turning on / off the power supply (power supply) of the slave microcomputer 30. For example, when the power control signal is at a low level, the slave microcomputer 30 is turned off and stopped. When the power control signal is at a high level, the microcomputer 30 is turned on and operates.
　実施の形態１に係るゲートウェイ３では、従マイコン３０が例えば１秒に１回の周期で所定のメッセージを主マイコン１０へ送信する。この周期的なメッセージ送信は、従マイコン３０が正常に動作していることを主マイコン１０に通知するためのメッセージであり、いわゆるKeep Aliveと呼ばれ得る信号の送信に相当する。実施の形態１においては、このメッセージを周期メッセージと呼ぶ。主マイコン１０は、１秒に１回の周期で従マイコン３０からの周期メッセージを受信する。もしこの周期メッセージが受信できない場合、主マイコン１０は、従マイコン３０に異常が発生したと判断し、従マイコン３０のリセット又は電源オフ等の制御を行う。なお、実施の形態１においては、従マイコン３０から主マイコン１０へ１秒周期で周期メッセージ送信を行う構成とするが、この周期は一例であって、これに限るものではなく、例えば周期を１００ミリ秒としてもよく、１０秒としてもよい。ただし周期メッセージの送信周期は、例えばＥＣＵ２ａ，２ｂ間のメッセージ中継のための通信の周期又は頻度等と比較して、十分に長い期間が設定されることが好ましい。 In the gateway 3 according to the first embodiment, the slave microcomputer 30 transmits a predetermined message to the main microcomputer 10 at a cycle of once per second, for example. This periodic message transmission is a message for notifying the main microcomputer 10 that the sub-microcomputer 30 is operating normally, and corresponds to transmission of a signal that can be called “KeepKAlive”. In the first embodiment, this message is called a periodic message. The main microcomputer 10 receives a periodic message from the slave microcomputer 30 at a period of once per second. If this periodic message cannot be received, the main microcomputer 10 determines that an abnormality has occurred in the slave microcomputer 30, and performs control such as resetting or powering off the slave microcomputer 30. In the first embodiment, a periodic message is transmitted from the slave microcomputer 30 to the main microcomputer 10 at a cycle of 1 second. However, this cycle is only an example, and the cycle is not limited to this. It may be milliseconds or 10 seconds. However, it is preferable that the transmission period of the periodic message is set to a sufficiently long period compared with, for example, the communication period or frequency for message relay between the ECUs 2a and 2b.
　また実施の形態１に係るゲートウェイ３では、従マイコン３０が実行するプログラムをバージョンアップ又は不具合修正等のために更新する必要が生じた場合に、主マイコン１０が従マイコン３０のプログラムを更新する処理を行う。主マイコン１０は、例えば車両１の外部に存在するサーバ装置などから更新用のプログラムを取得する。図１において更新用のプログラムの取得経路は図示を省略しているが、例えば主マイコン１０は車両１に搭載された無線通信装置を利用して車両１の外部に存在するサーバ装置との通信を行い、更新用のプログラムを取得する構成とすることができる。主マイコン１０は、取得した更新用のプログラムを、ＭＩＩの通信により従マイコン３０へ送信する。 In the gateway 3 according to the first embodiment, when the program executed by the slave microcomputer 30 needs to be updated for version upgrade or defect correction, the master microcomputer 10 updates the program of the slave microcomputer 30. I do. The main microcomputer 10 acquires an update program from, for example, a server device existing outside the vehicle 1. In FIG. 1, an update program acquisition path is not shown. For example, the main microcomputer 10 communicates with a server device existing outside the vehicle 1 using a wireless communication device mounted on the vehicle 1. And an update program can be obtained. The main microcomputer 10 transmits the acquired update program to the slave microcomputer 30 by MII communication.
　従マイコン３０は、上述のようにメモリに２つのプログラムを記憶することができる。主マイコン１０から更新用のプログラムを受信した従マイコン３０は、その時点において実行していないプログラムが記憶されたメモリの領域に、受信した更新用のプログラムを上書きして記憶する。主マイコン１０は、更新用のプログラムの送信を完了した後、メモリに記憶された更新用のプログラムを実行するよう起動指示の信号を出力すると共に、従マイコン３０をリセットする。これにより従マイコン３０は、メモリに記憶された新たなプログラム（更新用のプログラム）を読み出して実行することができ、従マイコン３０のプログラムの更新処理が完了する。 The slave microcomputer 30 can store two programs in the memory as described above. The slave microcomputer 30 that has received the update program from the main microcomputer 10 overwrites and stores the received update program in the area of the memory in which the program not executed at that time is stored. After completing the transmission of the update program, the main microcomputer 10 outputs a start instruction signal to execute the update program stored in the memory and resets the slave microcomputer 30. Thereby, the slave microcomputer 30 can read and execute a new program (update program) stored in the memory, and the update process of the slave microcomputer 30 is completed.
　また従マイコン３０は、メモリに記憶された２つのプログラムのうちいずれのプログラムを実行しているかを示す情報を、１秒に１回の周期で主マイコン１０へ送信する周期メッセージに含めて送信する。周期メッセージを受信した主マイコン１０は、周期メッセージに含まれる情報に基づいて、従マイコン３０がいずれのプログラムを実行しているかを把握することができ、自身が起動指示で指示したプログラムが実行されているかを確認することができる。 Further, the slave microcomputer 30 transmits information indicating which of the two programs stored in the memory is being executed in a periodic message transmitted to the main microcomputer 10 at a cycle of once per second. . The main microcomputer 10 that has received the periodic message can grasp which program the slave microcomputer 30 is executing based on the information included in the periodic message, and the program designated by the start instruction is executed. It can be confirmed.
　また従マイコン３０は、自身の処理などにおいてエラーが発生している場合に、このエラーに関する情報を周期メッセージに含めて送信する。周期メッセージを受信した主マイコン１０は、周期メッセージに含まれるエラーに関する情報に基づいて、例えば従マイコン３０をリセット又は停止するなどの制御処理を行うことができる。従マイコン３０が周期メッセージを送信することが可能ではあるが、エラーが発生しているという状況を主マイコン１０が把握することができる。 Further, when an error has occurred in its own processing or the like, the slave microcomputer 30 transmits information related to this error in a periodic message. The main microcomputer 10 that has received the periodic message can perform control processing such as resetting or stopping the slave microcomputer 30 based on the information about the error included in the periodic message. Although the slave microcomputer 30 can transmit the periodic message, the master microcomputer 10 can grasp the situation that an error has occurred.
　図２は、実施の形態１に係る主マイコン１０の構成を示すブロック図である。実施の形態１に係る主マイコン１０は、プロセッサ１１、メモリ１２、ＣＡＮ通信部１３及びＩ／Ｆ（インタフェース）部１４等を備えて構成されている。プロセッサ１１は、メモリ１２に記憶されたプログラムを読み出して実行することにより、種々の演算処理を行う演算処理装置である。メモリ１２は、ＥＥＰＲＯＭ（Electrically Erasable Programmable Read Only Memory）又はフラッシュメモリ等の不揮発性のメモリ素子を用いて構成され、プロセッサ１１が実行する各種のプログラム及びこのプログラムを実行するために必要なデータ等を記憶する。 FIG. 2 is a block diagram showing the configuration of the main microcomputer 10 according to the first embodiment. The main microcomputer 10 according to the first embodiment includes a processor 11, a memory 12, a CAN communication unit 13, an I / F (interface) unit 14, and the like. The processor 11 is an arithmetic processing unit that performs various arithmetic processes by reading and executing a program stored in the memory 12. The memory 12 is configured using a nonvolatile memory element such as an EEPROM (Electrically Erasable Programmable Read Only Memory) or a flash memory, and stores various programs executed by the processor 11 and data necessary for executing the programs. Remember.
　ＣＡＮ通信部１３は、ＣＡＮの通信規格に基づくメッセージの送受信を行う。実施の形態１に係る主マイコン１０は、ＣＡＮ通信部１３を２つ備えている。２つのＣＡＮ通信部１３はそれぞれ通信線が接続され、この通信線に接続されているＥＣＵ２ｂとの間でメッセージの送受信を行う。ＣＡＮ通信部１３は、プロセッサ１１から与えられたメッセージを、通信線を介してＥＣＵ２ｂへ送信する。またＣＡＮ通信部１３は、通信線を介してＥＣＵ２ｂから受信したメッセージをプロセッサ１１へ与える。 The CAN communication unit 13 transmits and receives messages based on the CAN communication standard. The main microcomputer 10 according to the first embodiment includes two CAN communication units 13. Each of the two CAN communication units 13 is connected to a communication line, and transmits / receives a message to / from the ECU 2b connected to the communication line. The CAN communication unit 13 transmits the message given from the processor 11 to the ECU 2b via the communication line. Moreover, the CAN communication part 13 gives the message received from ECU2b to the processor 11 via the communication line.
　Ｉ／Ｆ部１４は、従マイコン３０との間での通信及び信号授受等を行う。Ｉ／Ｆ部１４は、ゲートウェイ３の回路基板上に設けられた複数の配線を介して従マイコン３０に接続される。Ｉ／Ｆ部１４は、ＭＩＩの通信規格に従って、従マイコン３０との間でメッセージの送受信を行う。Ｉ／Ｆ部１４は、プロセッサ１１から与えられたメッセージを従マイコン３０へ送信すると共に、従マイコン３０からのメッセージを受信してプロセッサ１１へ与える。またＩ／Ｆ部１４は、プロセッサ１１の制御に応じて、起動指示、リセット及び電源制御の各信号を従マイコン３０に対して出力する。 The I / F unit 14 performs communication and signal exchange with the slave microcomputer 30. The I / F unit 14 is connected to the slave microcomputer 30 via a plurality of wires provided on the circuit board of the gateway 3. The I / F unit 14 transmits and receives messages to and from the slave microcomputer 30 in accordance with the MII communication standard. The I / F unit 14 transmits a message given from the processor 11 to the slave microcomputer 30, receives a message from the slave microcomputer 30, and gives it to the processor 11. In addition, the I / F unit 14 outputs each signal of a start instruction, reset, and power control to the slave microcomputer 30 in accordance with the control of the processor 11.
　図３は、実施の形態１に係る従マイコン３０の構成を示すブロック図である。実施の形態１に係る従マイコン３０は、プロセッサ３１、メモリ３２、イーサネット通信部３３及びＩ／Ｆ部３４等を備えて構成されている。プロセッサ３１は、メモリ３２に記憶されたプログラムを読み出して実行することにより、種々の演算処理を行う演算処理装置である。 FIG. 3 is a block diagram showing a configuration of the slave microcomputer 30 according to the first embodiment. The slave microcomputer 30 according to the first embodiment includes a processor 31, a memory 32, an Ethernet communication unit 33, an I / F unit 34, and the like. The processor 31 is an arithmetic processing unit that performs various arithmetic processes by reading and executing a program stored in the memory 32.
　メモリ３２は、ＥＥＰＲＯＭ又はフラッシュメモリ等の不揮発性のメモリ素子を用いて構成され、プロセッサ３１が実行する各種のプログラム及びこのプログラムを実行するために必要なデータ等を記憶する。実施の形態１においてメモリ３２は、プロセッサ３１が実行するプログラムを２つ記憶することができる（図３において、プログラムＡ及びプログラムＢと図示している）。プロセッサ３１は、主マイコン１０から与えられる起動指示の信号に基づいて、メモリ３２からいずれか一方のプログラムを読み出して実行する。 The memory 32 is configured by using a non-volatile memory element such as an EEPROM or a flash memory, and stores various programs executed by the processor 31 and data necessary for executing the programs. In the first embodiment, the memory 32 can store two programs to be executed by the processor 31 (shown as program A and program B in FIG. 3). The processor 31 reads out one of the programs from the memory 32 and executes it based on the activation instruction signal given from the main microcomputer 10.
　イーサネット通信部３３は、イーサネットの通信規格に基づくメッセージの送受信を行う。なお実施の形態１において従マイコン３０は複数のイーサネット通信部３３を備えているが、図３においては構成を簡略化して３つのイーサネット通信部３３のみを図示している。複数のイーサネット通信部３３はそれぞれ通信線が接続され、この通信線に接続されているＥＣＵ２ａとの間でメッセージの送受信を行う。イーサネット通信部３３は、プロセッサ３１から与えられたメッセージを、通信線を介してＥＣＵ２ａへ送信する。またイーサネット通信部３３は、通信線を介してＥＣＵ２ａから受信したメッセージをプロセッサ３１へ与える。 The Ethernet communication unit 33 transmits and receives messages based on the Ethernet communication standard. In the first embodiment, the slave microcomputer 30 includes a plurality of Ethernet communication units 33. However, in FIG. 3, only the three Ethernet communication units 33 are illustrated in a simplified configuration. Each of the plurality of Ethernet communication units 33 is connected to a communication line, and transmits / receives a message to / from the ECU 2a connected to the communication line. The Ethernet communication unit 33 transmits the message given from the processor 31 to the ECU 2a via the communication line. Further, the Ethernet communication unit 33 gives the message received from the ECU 2a to the processor 31 via the communication line.
　Ｉ／Ｆ部３４は、主マイコン１０との間での通信及び信号授受等を行う。Ｉ／Ｆ部３４は、ゲートウェイ３の回路基板上に設けられた複数の配線を介して主マイコン１０に接続される。Ｉ／Ｆ部３４は、ＭＩＩの通信規格に従って、主マイコン１０との間でメッセージの送受信を行う。Ｉ／Ｆ部３４は、プロセッサ３１から与えられたメッセージを主マイコン１０へ送信すると共に、主マイコン１０からのメッセージを受信してプロセッサ３１へ与える。またＩ／Ｆ部３４は、主マイコン１０が出力した起動指示、リセット及び電源制御の各信号の状態（ハイレベル又はローレベルのいずれであるか）を取得し、取得した信号状態をプロセッサ３１へ与える。 The I / F unit 34 performs communication and signal exchange with the main microcomputer 10. The I / F unit 34 is connected to the main microcomputer 10 via a plurality of wires provided on the circuit board of the gateway 3. The I / F unit 34 transmits and receives messages to and from the main microcomputer 10 in accordance with the MII communication standard. The I / F unit 34 transmits a message given from the processor 31 to the main microcomputer 10, receives a message from the main microcomputer 10, and gives it to the processor 31. Further, the I / F unit 34 acquires the state of each of the start instruction, reset, and power control signals output from the main microcomputer 10 (whether it is high level or low level), and sends the acquired signal state to the processor 31. give.
　図４は、主マイコン１０及び従マイコン３０の間で送受信されるメッセージの構成を示す模式図である。主マイコン１０及び従マイコン３０の間で送受信されるメッセージは、イーサネットヘッダ、マイコン間通信ヘッダ、データ及びフッタ等を含んで構成されている。なお、図示のメッセージ構成は、主マイコン１０及び従マイコン３０が通常に送受信するメッセージと、従マイコン３０が主マイコン１０へ送信する周期メッセージとで共通の構成である。 FIG. 4 is a schematic diagram showing a configuration of messages transmitted and received between the main microcomputer 10 and the sub-microcomputer 30. A message transmitted / received between the main microcomputer 10 and the sub-microcomputer 30 includes an Ethernet header, an inter-microcomputer communication header, data, a footer, and the like. The illustrated message configuration is a common configuration for messages that are normally transmitted and received by the main microcomputer 10 and the sub-microcomputer 30 and periodic messages that the sub-microcomputer 30 transmits to the main microcomputer 10.
　主マイコン１０及び従マイコン３０の間で送受信されるメッセージは、イーサネットのＭＩＩの通信規格に従うものであり、メッセージに含まれるイーサネットヘッダはこの通信規格に従う情報、例えば送受信元のアドレス及びメッセージタイプ等の情報を含む。メッセージに含まれるマイコン間通信ヘッダは、実施の形態１に特有の情報であり、ＡＣＫ有無、再送フラグ、シーケンス番号、データサイズ及びデータタイプ等の情報を含む。データは、主マイコン１０及び従マイコン３０の間で送受信すべき任意のデータである。フッタは、メッセージの終わりを示す所定のデータである。 A message transmitted / received between the main microcomputer 10 and the sub-microcomputer 30 conforms to the Ethernet MII communication standard, and the Ethernet header included in the message includes information conforming to the communication standard, such as a transmission / reception source address and a message type. Contains information. The inter-microcomputer communication header included in the message is information unique to the first embodiment, and includes information such as ACK presence / absence, retransmission flag, sequence number, data size, and data type. The data is arbitrary data to be transmitted / received between the main microcomputer 10 and the slave microcomputer 30. The footer is predetermined data indicating the end of the message.
　マイコン間通信ヘッダのＡＣＫ有無の情報は、このメッセージに対して受信側がＡＣＫ、即ちメッセージを受信した旨の応答を行う必要があるか否かを示す情報である。再送フラグは、このメッセージを送信するのが２回目以上であることを示すフラグである。シーケンス番号は、主マイコン１０及び従マイコン３０の間でメッセージを識別するための番号が設定される。データサイズは、マイコン間通信ヘッダに続くデータのサイズが設定される。データタイプは、このメッセージの種別が設定される。従マイコン３０から主マイコン１０へ送信される周期メッセージは、マイコン間通信ヘッダのデータタイプに周期メッセージであることを示す情報が設定されることで区別される。 The information on the presence or absence of ACK in the communication header between microcomputers is information indicating whether or not the receiving side needs to make a response indicating that the message has been received, that is, ACK. The retransmission flag is a flag indicating that this message is transmitted for the second time or more. As the sequence number, a number for identifying a message between the main microcomputer 10 and the slave microcomputer 30 is set. The data size is set to the size of data following the communication header between microcomputers. As the data type, the type of this message is set. The periodic message transmitted from the slave microcomputer 30 to the main microcomputer 10 is distinguished by setting information indicating that it is a periodic message in the data type of the communication header between microcomputers.
　周期メッセージのデータには、上述のように、従マイコン３０のプロセッサ３１が実行しているプログラムがメモリ３２に記憶された２つのプログラムのうちのいずれであるかを示す情報が含まれる。また更に、従マイコン３０においてエラーが発生した場合には、このエラーに関する情報が周期メッセージのデータに含まれる。従マイコン３０にて発生するエラーは、例えば従マイコン３０のレジスタの設定異常、メモリ３２の読み書きのエラー、イーサネット通信に関するエラー等が考えられる。周期メッセージのデータには、エラーの有無及びエラーの種別を示す情報が、エラーに関する情報として設定され得る。 The data of the periodic message includes information indicating which of the two programs stored in the memory 32 is the program executed by the processor 31 of the slave microcomputer 30 as described above. Furthermore, when an error occurs in the slave microcomputer 30, information regarding this error is included in the data of the periodic message. The error that occurs in the slave microcomputer 30 may be, for example, a register setting error of the slave microcomputer 30, a read / write error in the memory 32, an Ethernet communication error, or the like. In the cyclic message data, information indicating the presence / absence of an error and the type of error can be set as information relating to the error.
　図５は、実施の形態１に係る主マイコン１０が起動時に行う処理の手順を示すフローチャートである。実施の形態１に係る主マイコン１０のプロセッサ１１は、例えばゲートウェイ３への電力供給が開始され、パワーオンリセットなどが解除されることにより、メモリ１２からプログラムを読み出して実行し、処理に必要な初期値の設定など自身の起動処理を行う（ステップＳ１）。自身の起動処理を終了した後、プロセッサ１１は、従マイコン３０がいずれのプログラムを実行すべきであるかを決定し、この決定に基づいて起動示の信号を出力する（ステップＳ２）。例えば主マイコン１０はメモリ３２に従マイコン３０の最新のプログラムがプログラムＡ又はプログラムＢのいずれであるかを記憶しておき、ステップＳ２においてこの記憶した情報に基づいてプロセッサ１１が実行すべきプログラムを決定することができる。 FIG. 5 is a flowchart showing a procedure of processing performed when the main microcomputer 10 according to the first embodiment is activated. The processor 11 of the main microcomputer 10 according to the first embodiment reads out and executes a program from the memory 12 when, for example, power supply to the gateway 3 is started and a power-on reset or the like is canceled, which is necessary for processing. It performs its own startup processing such as setting of initial values (step S1). After completing its own activation process, the processor 11 determines which program the slave microcomputer 30 should execute, and outputs a signal indicating activation based on this determination (step S2). For example, the main microcomputer 10 memorizes whether the latest program of the microcomputer 30 is the program A or the program B according to the memory 32, and the program to be executed by the processor 11 based on the stored information in step S2. Can be determined.
　次いで、プロセッサ１１は、従マイコン３０への電源制御の信号をローレベルからハイレベルへ切り替えることによって、従マイコン３０の電源をオンする（ステップＳ３）。その後、プロセッサ１１は、従マイコン３０へのリセットの信号をローレベルからハイレベルへ切り替えることによって、従マイコン３０のリセットを解除し（ステップＳ４）、起動時の処理を終了する。 Next, the processor 11 turns on the power supply of the slave microcomputer 30 by switching the power control signal to the slave microcomputer 30 from the low level to the high level (step S3). Thereafter, the processor 11 releases the reset of the slave microcomputer 30 by switching the reset signal to the slave microcomputer 30 from the low level to the high level (step S4), and ends the process at the time of activation.
　図６は、実施の形態１に係る従マイコン３０が起動時に行う処理の手順を示すフローチャートである。実施の形態１に係る従マイコン３０は、主マイコン１０による電源オンの制御に応じて処理を開始する。従マイコン３０のプロセッサ３１は、主マイコン１０からのリセットの信号に基づいて、リセットが解除されたか否かを判定する（ステップＳ１１）。リセットが解除されていない場合（Ｓ１１：ＮＯ）、プロセッサ３１は、リセットが解除されるまで待機する。 FIG. 6 is a flowchart showing a procedure of processing performed when the slave microcomputer 30 according to the first embodiment is activated. The slave microcomputer 30 according to the first embodiment starts processing according to the power-on control by the main microcomputer 10. The processor 31 of the slave microcomputer 30 determines whether or not the reset has been canceled based on the reset signal from the main microcomputer 10 (step S11). If the reset is not released (S11: NO), the processor 31 waits until the reset is released.
　リセットが解除された場合（Ｓ１１：ＹＥＳ）、プロセッサ３１は、主マイコン１０から入力される信号に基づいて起動指示を取得する（ステップＳ１２）。プロセッサ３１は、取得した起動指示において指定されたプログラムをメモリ３２から読み出して実行し（ステップＳ１３）、起動時の処理を終了する。 When the reset is released (S11: YES), the processor 31 obtains an activation instruction based on a signal input from the main microcomputer 10 (step S12). The processor 31 reads out the program designated in the acquired activation instruction from the memory 32 and executes it (step S13), and ends the process at the time of activation.
　図７は、実施の形態１に係る従マイコン３０が行う周期メッセージの送信処理の手順を示すフローチャートである。実施の形態１に係る従マイコン３０のプロセッサ３１は、タイマ機能などを内蔵しており、起動から又は前回の周期メッセージの送信から所定時間が経過したか否かを判定する（ステップＳ２１）。所定時間が経過していない場合（Ｓ２１：ＮＯ）、プロセッサ３１は、所定時間が経過するまで待機する。 FIG. 7 is a flowchart showing a procedure of periodic message transmission processing performed by the slave microcomputer 30 according to the first embodiment. The processor 31 of the slave microcomputer 30 according to the first embodiment has a built-in timer function and the like, and determines whether or not a predetermined time has elapsed since activation or transmission of the previous periodic message (step S21). If the predetermined time has not elapsed (S21: NO), the processor 31 waits until the predetermined time elapses.
　所定時間が経過した場合（Ｓ２１：ＹＥＳ）、プロセッサ３１は、その時点で実行しているプログラムがメモリ３２に記憶されたプログラムＡ又はプログラムＢのいずれであるかを示す起動情報の収集を行う（ステップＳ２２）。またプロセッサ３１は、自身の処理においてエラーが発生しているか否か及びエラーが発生している場合にはそのエラーの種別等のエラー情報の収集を行う（ステップＳ２３）。プロセッサ３１は、収集した起動情報及びエラー情報をデータに含む周期メッセージを生成する（ステップＳ２４）。プロセッサ３１は、生成した周期メッセージをＩ／Ｆ部３４へ与えることにより、周期メッセージを主マイコン１０へ送信し（ステップＳ２５）、ステップＳ２１へ処理を戻す。 When the predetermined time has elapsed (S21: YES), the processor 31 collects activation information indicating whether the program being executed at that time is the program A or the program B stored in the memory 32 ( Step S22). Further, the processor 31 collects error information such as whether or not an error has occurred in its own processing, and if an error has occurred (step S23). The processor 31 generates a periodic message including the collected activation information and error information in the data (step S24). The processor 31 transmits the periodic message to the main microcomputer 10 by giving the generated periodic message to the I / F unit 34 (step S25), and returns the process to step S21.
　図８は、実施の形態１に係る主マイコン１０が行う周期メッセージに基づく制御処理の手順を示すフローチャートである。実施の形態１に係る主マイコン１０のプロセッサ１１は、Ｉ／Ｆ部１４にて従マイコン３０から周期メッセージを受信したか否かを判定する（ステップＳ３１）。周期メッセージを受信していない場合（Ｓ３１：ＮＯ）、プロセッサ１１は、前回の周期メッセージの受信から所定時間以上が経過したか否かを判定する（ステップＳ３２）。この判定に用いられる所定時間は、周期メッセージの送信周期である１秒とするか、又は、送信周期より長い時間（例えば３秒）としてもよい。前回の受信から所定時間以上が経過していない場合（Ｓ３２：ＮＯ）、プロセッサ１１は、ステップＳ３１へ処理を戻し、周期メッセージを受信するか、又は、前回の受信から所定時間以上が経過するまで待機する。 FIG. 8 is a flowchart showing a control processing procedure based on a periodic message performed by the main microcomputer 10 according to the first embodiment. The processor 11 of the main microcomputer 10 according to the first embodiment determines whether or not the periodic message is received from the slave microcomputer 30 at the I / F unit 14 (step S31). When the periodic message has not been received (S31: NO), the processor 11 determines whether or not a predetermined time or more has elapsed since the previous periodic message was received (step S32). The predetermined time used for this determination may be 1 second, which is the transmission cycle of the periodic message, or may be longer than the transmission cycle (for example, 3 seconds). When the predetermined time or more has not elapsed since the previous reception (S32: NO), the processor 11 returns the process to step S31 and receives the periodic message or until the predetermined time or more has elapsed since the previous reception. stand by.
　周期メッセージを受信した場合（Ｓ３１：ＹＥＳ）、プロセッサ１１は、周期メッセージのデータに含まれる起動情報を取得する（ステップＳ３３）。またプロセッサ１１は、受信した周期メッセージのデータにエラー情報が含まれていれば、これを取得する（ステップＳ３４）。プロセッサ１１は、取得した起動情報及びエラー情報に基づいて、従マイコン３０に異常があるか否かを判定する（ステップＳ３５）。ここでプロセッサ１１は、取得した起動情報と、自らが出力した起動指示とに相違がある場合、従マイコン３０に異常があると判定することができる。またプロセッサ１１は、周期メッセージにエラー情報が含まれている場合に、従マイコン３０に異常があると判定することができる。従マイコン３０に異常がない場合（Ｓ３５：ＮＯ）、プロセッサ１１は、ステップＳ３１へ処理を戻す。 When the periodic message is received (S31: YES), the processor 11 acquires activation information included in the data of the periodic message (step S33). Further, if the error information is included in the data of the received periodic message, the processor 11 acquires this (step S34). The processor 11 determines whether or not there is an abnormality in the slave microcomputer 30 based on the acquired startup information and error information (step S35). Here, the processor 11 can determine that there is an abnormality in the slave microcomputer 30 when there is a difference between the acquired startup information and the startup instruction output by itself. Further, the processor 11 can determine that the slave microcomputer 30 has an abnormality when error information is included in the periodic message. If there is no abnormality in the slave microcomputer 30 (S35: NO), the processor 11 returns the process to step S31.
　従マイコン３０に異常がある場合（Ｓ３５：ＹＥＳ）、プロセッサ１１は、ステップＳ３６へ処理を進める。また、前回の周期メッセージの受信から所定時間以上が経過している場合（Ｓ３２：ＹＥＳ）、プロセッサ１１は、従マイコン３０に異常があると判断し、ステップＳ３６へ処理を進める。プロセッサ１１は、Ｉ／Ｆ部１４から出力するリセットの信号をハイレベルからローレベルへ切り替えることによって、従マイコン３０をリセットする（ステップＳ３６）。その後、プロセッサ１１は、リセットを解除して従マイコン３０を再起動し、再起動した従マイコン３０からの周期メッセージの有無及びその内容等に基づいて、従マイコン３０の異常が解消したか否かを判定する（ステップＳ３７）。異常が解消した場合（Ｓ３７：ＹＥＳ）、プロセッサ１１は、ステップＳ３１へ処理を戻す。異常が解消しない場合（Ｓ３７：ＮＯ）、プロセッサ１１は、Ｉ／Ｆ部１４から出力する電源制御の信号をハイレベルからローレベルへ切り替えることによって、従マイコン３０を電源オフして動作を停止させ（ステップＳ３８）、処理を終了する。 If there is an abnormality in the slave microcomputer 30 (S35: YES), the processor 11 advances the process to step S36. On the other hand, if a predetermined time or more has elapsed since the last periodic message was received (S32: YES), the processor 11 determines that the slave microcomputer 30 has an abnormality, and proceeds to step S36. The processor 11 resets the slave microcomputer 30 by switching the reset signal output from the I / F unit 14 from high level to low level (step S36). Thereafter, the processor 11 cancels the reset and restarts the slave microcomputer 30, and whether or not the abnormality of the slave microcomputer 30 has been resolved based on the presence / absence of the periodic message from the restarted slave microcomputer 30 and the contents thereof. Is determined (step S37). When the abnormality is resolved (S37: YES), the processor 11 returns the process to step S31. When the abnormality is not resolved (S37: NO), the processor 11 switches off the power control signal output from the I / F unit 14 from the high level to the low level, thereby turning off the slave microcomputer 30 and stopping the operation. (Step S38), the process ends.
　以上の構成の実施の形態１に係るゲートウェイ３は、主マイコン１０及び従マイコン３０の２つのマイコンを備える。主マイコン１０は、従マイコン３０の起動を制御する。主マイコン１０はＣＡＮに係る通信処理を行い、従マイコン３０はイーサネットに係る通信処理を行う。また従マイコン３０は、例えば１秒に１回の周期で周期メッセージ（所定の信号）を主マイコン１０へ送信する。主マイコン１０は、従マイコン３０からの周期メッセージに応じて、従マイコン３０の動作を制御する。これにより主マイコン１０は、従マイコン３０からの周期メッセージに基づいて、従マイコン３０の動作状況などを周期的に把握することができる。 The gateway 3 according to the first embodiment having the above configuration includes two microcomputers, the main microcomputer 10 and the slave microcomputer 30. The main microcomputer 10 controls the activation of the slave microcomputer 30. The main microcomputer 10 performs communication processing related to CAN, and the slave microcomputer 30 performs communication processing related to Ethernet. The slave microcomputer 30 transmits a periodic message (predetermined signal) to the main microcomputer 10 at a cycle of once per second, for example. The main microcomputer 10 controls the operation of the slave microcomputer 30 according to the periodic message from the slave microcomputer 30. Accordingly, the main microcomputer 10 can periodically grasp the operation status of the sub-microcomputer 30 based on the periodic message from the sub-microcomputer 30.
　またゲートウェイ３の主マイコン１０は、従マイコン３０からの周期メッセージを所定時間に亘って受信しない場合に、従マイコン３０に対して所定の制御を行う。従マイコン３０から周期メッセージを受信しない状態が所定時間に亘って継続する場合、従マイコン３０に異常が発生したと推測することができる。このような場合に主マイコン１０が所定の制御を行うことによって、従マイコン３０の異常に対応することが可能となる。 Further, the main microcomputer 10 of the gateway 3 performs predetermined control on the slave microcomputer 30 when the periodic message from the slave microcomputer 30 is not received for a predetermined time. When the state in which the periodic message is not received from the slave microcomputer 30 continues for a predetermined time, it can be estimated that an abnormality has occurred in the slave microcomputer 30. In such a case, when the main microcomputer 10 performs predetermined control, it is possible to cope with an abnormality of the slave microcomputer 30.
　また主マイコン１０は、従マイコン３０から周期メッセージを所定時間に亘って受信しない場合に行う所定の制御として、従マイコン３０を再起動（リセット）又は停止（電源オフ）する制御を行う。再起動の制御を行うことにより、異常が発生した従マイコン３０が通常の状態へ復帰する可能性がある。また停止の制御を行うことにより、従マイコン３０の異常が主マイコン１０及びＥＣＵ２ａ等に悪影響を与えることを抑制できる。 The main microcomputer 10 performs control to restart (reset) or stop (power off) the sub-microcomputer 30 as predetermined control performed when the periodic message is not received from the sub-microcomputer 30 for a predetermined time. By controlling the restart, there is a possibility that the slave microcomputer 30 in which an abnormality has occurred returns to a normal state. Further, by controlling the stop, it is possible to suppress the abnormality of the slave microcomputer 30 from adversely affecting the main microcomputer 10 and the ECU 2a.
　またゲートウェイ３の従マイコン３０では、メモリ３２に記憶された２つのプログラムの中からプロセッサ３１がいずれか１つを選択した実行する。従マイコン３０のプロセッサ３１がいずれのプログラムを実行するかは、主マイコン１０からの選択指示（起動指示）に応じて選択される。従マイコン３０は、プロセッサ３１がいずれのプログラムを実行しているかを示す情報を周期メッセージに含めて主マイコン１０へ送信する。これにより、周期メッセージを受信した主マイコン１０は、従マイコン３０がいずれのプログラムを実行しているかを把握することができ、自らが指示したプログラムが実行されているかを把握することができる。 In the slave microcomputer 30 of the gateway 3, the processor 31 selects and executes one of the two programs stored in the memory 32. Which program the processor 31 of the slave microcomputer 30 executes is selected according to a selection instruction (start-up instruction) from the main microcomputer 10. The sub-microcomputer 30 includes information indicating which program the processor 31 is executing in the periodic message and transmits it to the main microcomputer 10. As a result, the main microcomputer 10 that has received the periodic message can grasp which program the slave microcomputer 30 is executing, and can recognize whether the program instructed by itself is being executed.
　また従マイコン３０のプロセッサ３１が実行するプログラムは、例えばバージョンアップ又は不具合修正等の目的で更新する必要が生じる場合があり、従マイコン３０が実行するプログラムを更新する処理を主マイコン１０が行う。更新処理において主マイコン１０は、新たなプログラムを従マイコン３０のメモリ３２に記憶させる。従マイコン３０のメモリ３２には複数のプログラムを記憶しておくことが可能であり、更新前のプログラムと更新後のプログラムとを記憶しておくことができる。メモリ３２による更新後のプログラムの記憶を完了した後、主マイコン１０が従マイコン３０に更新後のプログラムを実行する選択指示を与えることで、従マイコン３０はメモリ３２に記憶された更新後のプログラムを実行することができる。 Further, the program executed by the processor 31 of the slave microcomputer 30 may need to be updated for the purpose of version upgrade or defect correction, for example, and the master microcomputer 10 performs the process of updating the program executed by the slave microcomputer 30. In the update process, the main microcomputer 10 stores a new program in the memory 32 of the slave microcomputer 30. A plurality of programs can be stored in the memory 32 of the slave microcomputer 30, and a program before update and a program after update can be stored. After the storage of the updated program in the memory 32 is completed, the main microcomputer 10 gives a selection instruction to execute the updated program to the slave microcomputer 30, so that the slave microcomputer 30 stores the updated program stored in the memory 32. Can be executed.
　また従マイコン３０は、自身の処理にて発生したエラーに関する情報を周期メッセージに含めて送信する。これにより、周期メッセージを受信した主マイコン１０は、従マイコン３０にて発生したエラーを把握することができ、エラーからの復帰などの処理を行うことが可能となる。 Further, the slave microcomputer 30 transmits information related to an error that has occurred in its own processing included in the periodic message. As a result, the main microcomputer 10 that has received the periodic message can grasp the error that has occurred in the slave microcomputer 30, and can perform processing such as recovery from the error.
（実施の形態２）
　実施の形態２においては、従マイコンは供給される電圧の異常を検出する。実施の形態２におけるゲートウェイ３の構成について実施の形態１と同様の構成については同一の符号を付して詳細な説明を省略する。図９は、実施の形態２に係るゲートウェイ３の構成を示すブロック図である。図９に示すように、ゲートウェイ３には、車両１のバッテリ４から電力が供給される。ゲートウェイ３には、更に第１電源回路４０、スイッチ４１及び第２電源回路４２が設けられている。 (Embodiment 2)
In the second embodiment, the slave microcomputer detects an abnormality in the supplied voltage. About the structure of the gateway 3 in Embodiment 2, about the structure similar to Embodiment 1, the same code | symbol is attached | subjected and detailed description is abbreviate | omitted. FIG. 9 is a block diagram illustrating a configuration of the gateway 3 according to the second embodiment. As shown in FIG. 9, power is supplied to the gateway 3 from the battery 4 of the vehicle 1. The gateway 3 is further provided with a first power supply circuit 40, a switch 41, and a second power supply circuit 42.
　バッテリ４の正極は第１電源回路４０を介して主マイコン１０に接続されている。バッテリ４の負極は接地されている。スイッチ４１の一端は第１電源回路４０に接続されており、スイッチ４１の他端は従マイコン３０及び第２電源回路４２に接続されている。第２電源回路４２は更に従マイコン３０に接続されている。 The positive electrode of the battery 4 is connected to the main microcomputer 10 via the first power supply circuit 40. The negative electrode of the battery 4 is grounded. One end of the switch 41 is connected to the first power supply circuit 40, and the other end of the switch 41 is connected to the slave microcomputer 30 and the second power supply circuit 42. The second power supply circuit 42 is further connected to the slave microcomputer 30.
　バッテリ４から第１電源回路４０を介して主マイコン１０に電力が供給される。スイッチ４１がオンすることにより、第１電源回路４０、第２電源回路４２を介して従マイコン３０に電力が供給され、スイッチ４１がオフすることにより、電力の供給が遮断される。スイッチ４１のオンオフは主マイコン１０により制御される。 Electric power is supplied from the battery 4 to the main microcomputer 10 via the first power supply circuit 40. When the switch 41 is turned on, power is supplied to the slave microcomputer 30 via the first power supply circuit 40 and the second power supply circuit 42, and when the switch 41 is turned off, the supply of power is cut off. On / off of the switch 41 is controlled by the main microcomputer 10.
　バッテリ４は例えば１２Ｖのバッテリである。第１電源回路４０は、例えば、スイッチングレギュレータであり、バッテリ４から供給される電圧を３．３Ｖに変換して出力する。また、第２電源回路４２は例えば、リニアレギュレータであり、スイッチ４１がオンした場合に第１電源回路４０から出力される電圧を１．０Ｖに変換して従マイコン３０に出力する。従マイコン３０に対しては、第１電源回路４０からと、第２電源回路４２からとの２系統で電力が供給される。 The battery 4 is, for example, a 12V battery. The first power supply circuit 40 is, for example, a switching regulator, and converts the voltage supplied from the battery 4 to 3.3 V and outputs it. The second power supply circuit 42 is, for example, a linear regulator, and converts the voltage output from the first power supply circuit 40 to 1.0 V and outputs it to the slave microcomputer 30 when the switch 41 is turned on. Electric power is supplied to the slave microcomputer 30 from the first power supply circuit 40 and the second power supply circuit 42.
　図１０は、実施の形態２に係る従マイコン３０の構成を示すブロック図である。従マイコン３０は、実施の形態１と同様に、プロセッサ３１、メモリ３２、イーサネット通信部３３及びＩ／Ｆ部３４を備える。従マイコン３０は更に異常検出部３５を備える。ここで、従マイコン３０において、第２電源回路４２からの電力はプロセッサ３１のコア部品に供給され、第１電源回路４０からの電力はその他の構成部品に供給される。 FIG. 10 is a block diagram showing a configuration of the slave microcomputer 30 according to the second embodiment. As in the first embodiment, the slave microcomputer 30 includes a processor 31, a memory 32, an Ethernet communication unit 33, and an I / F unit 34. The slave microcomputer 30 further includes an abnormality detection unit 35. Here, in the slave microcomputer 30, the power from the second power supply circuit 42 is supplied to the core components of the processor 31, and the power from the first power supply circuit 40 is supplied to the other components.
　異常検出部３５は、第１電源回路４０及び第２電源回路４２から供給される電圧が閾値未満となった場合に、異常を示す信号をプロセッサ３１に出力する。即ち、異常検出部３５は、供給される電圧が低電圧状態である異常を検出する。異常検出部３５は、例えばコンパレータを備え、該コンパレータにより従マイコン３０に入力される電圧と、閾値電圧とを比較して、その比較結果に基づいて異常を検出する。電圧に係る閾値は、例えば、従マイコン３０において予め定められている動作の保証に係る電圧の下限値に設定される。 The abnormality detection unit 35 outputs a signal indicating abnormality to the processor 31 when the voltage supplied from the first power supply circuit 40 and the second power supply circuit 42 is less than the threshold value. That is, the abnormality detection unit 35 detects an abnormality in which the supplied voltage is in a low voltage state. The abnormality detection unit 35 includes, for example, a comparator, compares the voltage input to the slave microcomputer 30 by the comparator and the threshold voltage, and detects an abnormality based on the comparison result. The threshold value related to the voltage is set to, for example, a lower limit value of the voltage related to the guarantee of the operation predetermined in the slave microcomputer 30.
　なお、異常検出部３５は、低電圧に係る異常の検出に代えて、又はこれとともに高電圧に係る異常を検出してもよい。ここで、高電圧に係る異常とは、従マイコン３０に、予め定められている動作の保証に係る所定の電圧の範囲の上限値を超える電圧が入力されることを指す。高電圧に係る異常は、例えば、コンパレータを用いて、異常検出部３５に係る閾値を前記上限値とし、供給される電圧及び閾値を比較し、供給される電圧が閾値を超過したか否かに基づいて検出される。 Note that the abnormality detection unit 35 may detect an abnormality related to the high voltage instead of or in addition to the detection of the abnormality related to the low voltage. Here, the abnormality relating to the high voltage means that a voltage exceeding the upper limit value of a predetermined voltage range relating to the guarantee of the predetermined operation is input to the slave microcomputer 30. The abnormality relating to the high voltage is, for example, using a comparator, setting the threshold value related to the abnormality detection unit 35 as the upper limit value, comparing the supplied voltage and the threshold value, and determining whether or not the supplied voltage exceeds the threshold value. Detected on the basis.
　プロセッサ３１は入力された情報を例えばメモリ３２に記憶させ、エラー情報として、主マイコン１０に出力する。プロセッサ３１は、エラー情報を、実施の形態１と同様に図７のステップＳ２３～Ｓ２５に示すように、周期メッセージに含めて、主マイコン１０に送信する。 The processor 31 stores the input information in the memory 32, for example, and outputs it to the main microcomputer 10 as error information. The processor 31 includes the error information in the periodic message and transmits it to the main microcomputer 10 as shown in steps S23 to S25 of FIG. 7 as in the first embodiment.
　低電圧異常に係るエラー情報は、周期メッセージのデータにおいて、２系統の電力について例えば２ビットを使用する。この場合、１系統につき１ビットで低電圧異常が生じたか否かを伝達する。 The error information related to the low voltage abnormality uses, for example, 2 bits for 2 systems of power in the data of the periodic message. In this case, one bit per system is transmitted as to whether or not a low voltage abnormality has occurred.
　主マイコン１０は、周期メッセージの受信により、低電圧異常に係るエラー情報を取得した場合、実施の形態１と同様、図８のステップＳ３４～３８に示すように、従マイコン３０をリセット又は停止する。 When the main microcomputer 10 acquires error information related to the low voltage abnormality by receiving the periodic message, as in the first embodiment, the main microcomputer 10 resets or stops the slave microcomputer 30 as shown in steps S34 to S38 in FIG. .
　以上の構成によれば、バッテリ４か従マイコン３０に供給される電圧の異常を把握することができ、従マイコン３０に予め定められた動作に係る電圧値の範囲よりも高い値の電圧又は低い値の電圧が供給されることによる従マイコン３０の動作不良を防止することができる。また、低電圧異常を異常検出部３５により検出することにより、バッテリ４の供給電圧の低下により、従マイコン３０に予め定められた電圧値の範囲よりも低い値の電圧が供給されることによる従処理部の動作不良を防ぐことができる。 According to the above configuration, the abnormality of the voltage supplied to the battery 4 or the slave microcomputer 30 can be grasped, and the voltage of a value higher or lower than the voltage value range related to the operation predetermined for the slave microcomputer 30 is determined. It is possible to prevent malfunction of the slave microcomputer 30 due to the supply of the value voltage. Further, by detecting the low voltage abnormality by the abnormality detection unit 35, the slave microcomputer 30 is supplied with a voltage having a value lower than a predetermined voltage value range due to a decrease in the supply voltage of the battery 4. It is possible to prevent malfunction of the processing unit.
　なお実施の形態１及び２においては、ゲートウェイ３が従マイコン３０を１つ備える構成としたが、これに限るものではなく、従マイコン３０を複数備える構成としてもよい。また実施の形態１及び２においてゲートウェイ３及びＥＣＵ２ａ，２ｂが車両１に搭載されるものとしたが、これに限るものではなく、本技術は車載以外の通信装置にも適用可能である。またメッセージの中継などの処理を行う処理部をマイコンとしたが、これに限るものではなく、マイコン以外の種々の処理部であってよい。また車両１内の通信をＣＡＮ及びイーサネットの通信規格に従って行う構成としたが、これに限るものではなく、例えばＦｌｅｘＲａｙなどの他の通信規格に従って車両１内の通信を行う構成としてもよい。また従マイコン３０がエラー情報を周期メッセージに含めて主マイコン１０へ送信する構成としたが、これに限るものではなく、周期メッセージにはエラー情報を含まない構成としてもよい。更に、実施の形態２において、主マイコン１０へは１系統の電力供給、従マイコン３０へは２系統の電力系統としたが、これに限られず、主マイコン１０及び従マイコン３０への電力供給は夫々、単一又は複数系統のいずれであってもよい。 In Embodiments 1 and 2, the gateway 3 is configured to include one slave microcomputer 30, but the present invention is not limited to this, and may be configured to include a plurality of slave microcomputers 30. In the first and second embodiments, the gateway 3 and the ECUs 2a and 2b are mounted on the vehicle 1. However, the present technology is not limited to this, and the present technology can be applied to communication devices other than the vehicle. Moreover, although the processing unit for performing processing such as message relay is a microcomputer, the present invention is not limited to this, and various processing units other than the microcomputer may be used. In addition, although the communication in the vehicle 1 is performed according to the CAN and Ethernet communication standards, the present invention is not limited to this. For example, the communication in the vehicle 1 may be performed according to another communication standard such as FlexRay. The slave microcomputer 30 includes the error information in the periodic message and transmits it to the main microcomputer 10. However, the present invention is not limited to this, and the periodic message may not include the error information. Furthermore, in the second embodiment, the main microcomputer 10 has one power supply and the slave microcomputer 30 has two power systems. However, the power supply to the main microcomputer 10 and the slave microcomputer 30 is not limited to this. Each of them may be a single system or a plurality of systems.
　今回開示された実施形態はすべての点で例示であって、制限的なものではないと考えられるべきである。本開示の範囲は、上記した意味ではなく、請求の範囲によって示され、請求の範囲と均等の意味及び範囲内でのすべての変更が含まれることが意図される。 It should be considered that the embodiment disclosed this time is illustrative in all respects and not restrictive. The scope of the present disclosure is shown not by the above-described meaning but by the scope of claims, and is intended to include all modifications within the meaning and scope equivalent to the scope of claims.
　１　車両
　２ａ，２ｂ　ＥＣＵ
　３　ゲートウェイ（通信装置）
　１０　主マイコン（主処理部、制御部）
　１１　プロセッサ
　１２　メモリ
　１３　ＣＡＮ通信部
　１４　Ｉ／Ｆ部
　３０　従マイコン（従処理部、周期信号送信部）
　３１　プロセッサ
　３２　メモリ
　３３　イーサネット通信部
　３４　Ｉ／Ｆ部
　３５　異常検出部
　４　バッテリ
　４０　第１電源回路
　４１　スイッチ
　４２　第２電源回路
  1 Vehicle 2a, 2b ECU
3 Gateway (communication device)
10 Main microcomputer (main processing unit, control unit)
11 processor 12 memory 13 CAN communication unit 14 I / F unit 30 slave microcomputer (slave processing unit, periodic signal transmission unit)
31 Processor 32 Memory 33 Ethernet Communication Unit 34 I / F Unit 35 Abnormality Detection Unit 4 Battery 40 First Power Supply Circuit 41 Switch 42 Second Power Supply Circuit

Claims (9)

  1. 　主処理部と、従処理部とを備え、
    　前記従処理部は、通信に係る処理を行い、
    　前記主処理部は、前記従処理部の起動を制御し、
    　前記従処理部は、周期的に前記主処理部へ信号を送信し、
    　前記主処理部は、前記従処理部が周期的に送信する信号に応じて前記従処理部の動作を制御する、
    　通信装置。     A main processing unit and a sub-processing unit;
    The slave processing unit performs processing related to communication,
    The main processing unit controls activation of the sub processing unit,
    The slave processing unit periodically transmits a signal to the main processing unit,
    The main processing unit controls the operation of the sub processing unit according to a signal periodically transmitted by the sub processing unit.
    Communication device.
  2. 　前記主処理部は、所定時間に亘って前記信号を受信しない場合に、前記従処理部に対する所定の制御を行う、請求項１に記載の通信装置。 The communication device according to claim 1, wherein the main processing unit performs predetermined control on the sub-processing unit when the signal is not received for a predetermined time.
  3. 　前記主処理部は、前記所定の制御として、前記従処理部の再起動又は停止する制御を行う、請求項２に記載の通信装置。 The communication apparatus according to claim 2, wherein the main processing unit performs control to restart or stop the sub processing unit as the predetermined control.
  4. 　前記従処理部は、記憶部に記憶された複数のプログラムを選択的に実行し、
    　前記主処理部は、前記従処理部がいずれのプログラムを実行するかの選択指示を与え、
    　前記従処理部が周期的に送信する信号には、いずれのプログラムを実行しているかを示す情報を含む、請求項１乃至請求項３のいずれか１つに記載の通信装置。     The slave processing unit selectively executes a plurality of programs stored in the storage unit,
    The main processing unit gives an instruction to select which program the sub-processing unit executes,
    The communication apparatus according to claim 1, wherein the signal periodically transmitted by the slave processing unit includes information indicating which program is being executed.
  5. 　前記主処理部は、前記従処理部が実行するプログラムを更新する処理を行い、
    　前記複数のプログラムには、更新前のプログラム及び更新後のプログラムを含む、請求項４に記載の通信装置。     The main processing unit performs a process of updating a program executed by the sub processing unit,
    The communication apparatus according to claim 4, wherein the plurality of programs include a program before update and a program after update.
  6. 　前記従処理部が周期的に送信する信号には、前記従処理部の処理にて発生したエラーに関する情報を含む、請求項１乃至請求項５のいずれか１つに記載の通信装置。 The communication apparatus according to claim 1, wherein the signal periodically transmitted by the slave processing unit includes information on an error that has occurred in the process of the slave processing unit.
  7. 　前記エラーに関する情報は、前記従処理部に供給される電圧の異常に関する情報である、請求項６に記載の通信装置。 The communication apparatus according to claim 6, wherein the information related to the error is information related to an abnormality of a voltage supplied to the slave processing unit.
  8. 　前記電圧の異常は、前記電圧の値が所定値未満に低下することである、請求項７に記載の通信装置。 The communication apparatus according to claim 7, wherein the abnormality of the voltage is that the value of the voltage drops below a predetermined value.
  9. 　通信に係る処理を行う従処理部と、前記従処理部の起動を制御する主処理部とを備える通信装置が、
    　前記従処理部にて、周期的に前記主処理部へ信号を送信し、
    　前記主処理部にて、前記従処理部から周期的に送信される信号に応じて、前記従処理部の動作を制御する、制御方法。
          A communication device including a slave processor that performs processing related to communication and a master processor that controls activation of the slave processor,
    The slave processing unit periodically transmits a signal to the main processing unit,
    The control method in which the main processing unit controls the operation of the sub processing unit according to a signal periodically transmitted from the sub processing unit.
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