WO2024050752A1

WO2024050752A1 - Multi-controller system, coding method, electronic device, and storage medium

Info

Publication number: WO2024050752A1
Application number: PCT/CN2022/117776
Authority: WO
Inventors: 林龙珍; 陈绍岩; 刘帝平
Original assignee: 宁德时代新能源科技股份有限公司
Priority date: 2022-09-08
Filing date: 2022-09-08
Publication date: 2024-03-14

Abstract

Embodiments of the present application provide a multi-controller system, a coding method, an electronic device, and a storage medium. The multi-controller system comprises a master controller and at least one branch connected to the master controller; the branch comprises at least one slave controller pair connected in sequence; the slave controller pair comprises a first slave controller and a second slave controller which are connected by means of one hard wire; the master controller is separately communicationally connected to each slave controller by means of a bus. In the multi-controller system provided in the embodiments of the present application, the first slave controller and the second slave controller of the slave controller pair are connected by means of one hard wire, such that the number of hard wires required in the multi-controller system is reduced, the wire harness cost is reduced, and the required IO detection resources are reduced. The present application solves the problems in the related art that more hard wires are configured in a slave controller, the wire harness cost is higher, and more IO detection resources are required.

Description

Multi-controller systems, encoding methods, electronic devices and storage media

Technical field

The present application relates to the technical field of controller systems, and in particular to a multi-controller system, an encoding method, an electronic device and a storage medium.

Background technique

Multi-controller systems are widely used in battery management, energy storage management and other technical fields. Multi-controller systems usually include a master controller and multi-level slave controllers. Each level of slave controller includes at least one slave controller. Each slave controller is configured with two hard wires, the wiring harness cost is high, and more IO detection resources are required.

Contents of the invention

Embodiments of the present application provide a multi-controller system, a coding method for a multi-controller system, an electronic device and a computer-readable storage medium, which can solve the problem of many hard wires configured from the controller in related technologies. , the problem of higher wiring harness cost and more IO detection resources required.

In a first aspect, a multi-controller system is provided, including a main controller and at least one branch connected to the main controller; the branch includes at least one pair of slave controllers connected in sequence;

The pair of slave controllers includes a first slave controller and a second slave controller connected by a hard line;

The main controller communicates with each of the slave controllers through a bus.

In the multi-controller system provided by the embodiment of the present application, the first slave controller and the second slave controller of the slave controller pair are connected through a hard wire, which reduces the number of hard wires required in the multi-controller system and reduces the wiring harness cost. It reduces the cost, reduces the required IO detection resources, and solves the problems in related technologies that the slave controller configures more hard wires, the wiring harness cost is higher, and the required IO detection resources are more.

In one implementation, the hard wire connecting the first slave controller and the second slave controller in the same pair of slave controllers is a wake-up line used to transmit a wake-up signal;

The master controller is connected to the first slave controller of the first pair of slave controllers through a hard-wired coding line;

Each slave controller pair in the at least one branch is connected through a hard-wired coding line;

The hardwired code lines are used to transmit coded signals.

The wake-up line is used to transmit the wake-up signal, so that the first slave controller can wake up the second slave controller through the wake-up line and complete the hard-wire identification of the second slave controller, so that the main controller can recognize the hard-wire identification of the second slave controller. Two slave controllers perform encoding.

In a second aspect, a coding method for a multi-controller system is provided, which is applied to the above-mentioned multi-controller system; the method includes:

The at least one branch includes a first branch, and the master controller or the encoded slave controller in the first branch performs hard-wire identification on the uncoded slave controller that is hard-wired;

The master controller encodes the unencoded slave controllers recognized by the hardwire over the bus.

The encoding method provided by the embodiment of the present application can realize automatic encoding, effectively avoid encoding errors, improve the reliability of the multi-controller system, reduce the manual workload, and overcome the encoding error rate caused by the manual setting encoding method in related technologies. High and manual workload.

In one implementation, the method further includes:

The encoded slave controller completes hardwire recognition of the hardwired slave controller and enters a silent state;

The step of returning to the main controller to encode the uncoded slave controllers identified by hard wires through the bus is performed cyclically until the main controller determines that all the slave controllers in the first branch that need to be encoded are Until the coding is completed, automatic coding of the current branch is realized, effectively avoiding coding errors, improving the reliability of the multi-controller system, and reducing manual workload.

In one implementation, the master controller determines that all slave controllers that need to be encoded in the first branch have completed encoding, including:

Determine whether the number of generated encoding addresses is equal to the preset number of slave controllers that need to be encoded in the first branch;

If equal, it is determined that the slave controllers in the first branch that need to be encoded have all been encoded; otherwise, it is determined that they have not been completed, thereby enabling an accurate judgment on whether the current branch has completed encoding and avoiding missing certain slave controllers. encoding operation.

In one implementation, the master controller performs hard-wire identification on the slave controllers connected to itself through hard wires, including:

The main controller sends a coding start instruction through the bus, and all the first slave controllers enter coding mode;

The master controller sends a coding signal to the connected first slave controller through a hard-wired coding line, so that the connected first slave controller is hard-wired after receiving the coding signal. The main controller performs hard-wire identification on the first slave controller, thereby facilitating the main controller to encode the first slave controller after hard-wire identification.

In one implementation, the master controller encodes the unencoded slave controllers identified by hardwire through the bus, including:

The master controller generates a coded address and sends the coded address through the bus to the hardwired identified slave controller;

The hard-wired identified slave controller writes the encoded address into its own storage space. The master controller encodes the hard-wired identified slave controller through the bus, thereby ensuring a one-to-one correspondence between the slave controller and the encoded address.

In one implementation, the master controller encodes the uncoded slave controller recognized by the hardwire through the bus, further comprising:

The slave controller recognized by the hard wire sends its own coded address to the master controller;

The main controller determines whether the received coded address is consistent with the coded address generated by itself;

If the received encoding address is consistent with the self-generated encoding address, it is determined that the encoding is successful. The main controller determines whether encoding is successful, thereby ensuring high encoding accuracy.

In one implementation, the method further includes:

If the received coded address is inconsistent with the self-generated coded address, re-execute the step of sending the coded address to the slave controller identified by the hardwire;

If the main controller does not receive an encoding address that is consistent with the encoding address generated by itself when the preset time period or the preset number of retransmissions is reached, the encoding operation ends. Re-executing the step of sending the encoding address when encoding is unsuccessful can improve the encoding success rate.

In one implementation, the first slave controller and the second slave controller in the same pair of slave controllers are connected through a wake-up line;

The encoded slave controller performs hardwire identification on the next slave controller connected to itself through a hardwire, including:

If the encoded slave controller is the first slave controller, the encoded first slave controller wakes up the second slave controller connected to itself through the wake-up line when the encoding is completed and reaches the preset delay time. The awakened second slave controller becomes the hardwired recognized slave controller;

If the coded slave controller is a second slave controller, the coded second slave controller will send a coded signal to the next first slave controller connected to itself through a hard-wired coding line after a preset period of time. , making the next first slave controller become the slave controller recognized by hardwire. Identifying the slave controller through hard wires facilitates the master controller to perform encoding operations on the slave controllers identified through hard wires, thereby improving the coding accuracy.

In one implementation, before the encoded slave controller performs hardwire identification on the next slave controller to which it is connected through a hardwire, the method further includes:

The main controller sends a coding success confirmation instruction;

After the encoded slave controller receives the encoding success confirmation instruction, it sends an encoding success feedback signal to the master controller;

The main controller receives the feedback signal and updates the current encoding address.

After receiving the feedback signal, the main controller updates the current encoding address, further improving the encoding accuracy and effectively avoiding miscoding.

In a third aspect, an electronic device is provided, which is characterized in that it includes a memory, a processor, and a computer program stored on the memory and executable on the processor, and the processor executes the program to Coding methods that implement any of the above.

The electronic device of the embodiment of the present application can implement any of the above coding methods, can realize automatic coding, effectively avoid coding errors, improve the reliability of the multi-controller system, reduce the manual workload, and overcome the manual problem in related technologies. Defects such as high coding error rate and heavy manual workload caused by setting the coding method.

In a fourth aspect, a computer-readable storage medium is provided, on which a computer program is stored, and the program is executed by a processor to implement any of the above encoding methods.

The computer-readable storage medium of the embodiment of the present application can realize any of the above encoding methods, can realize automatic encoding, effectively avoid encoding errors, improve the reliability of the multi-controller system, reduce the manual workload, and overcome the problems of related technologies. The manual coding method used in the system results in high coding error rate and heavy manual workload.

Description of the drawings

In order to explain the technical solutions of the embodiments of the present application more clearly, the drawings required to be used in the embodiments of the present application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. Those of ordinary skill in the art can also obtain other drawings based on the drawings without exerting creative efforts.

FIG. 1 is a structural block diagram of a multi-controller system according to an embodiment of the present application.

FIG. 2 is a structural block diagram of a multi-controller system of another example of an embodiment of the present application.

Figure 3 is a flow chart of a coding method for a multi-controller system according to some embodiments of the present application.

Figure 4 is a flow chart of a coding method for a multi-controller system in other embodiments of the present application.

Figure 5 is a flow chart of the coding method of a multi-controller system according to a specific example of this application.

Figure 6 is a structural block diagram of an electronic device according to an embodiment of the present application.

Figure 7 is a schematic diagram of a computer-readable storage medium according to an embodiment of the present application.

Detailed ways

The embodiments of the present application will be described in further detail below with reference to the accompanying drawings and examples. The detailed description of the following embodiments and the accompanying drawings are used to illustrate the principles of the present application, but cannot be used to limit the scope of the present application, that is, the present application is not limited to the described embodiments.

In the description of this application, it should be noted that, unless otherwise stated, "plurality" means more than two; the terms "upper", "lower", "left", "right", "inside", " The orientation or positional relationship indicated such as "outside" is only for the convenience of describing the present application and simplifying the description. It does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present application. Application restrictions. Furthermore, the terms "first," "second," "third," etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. "Vertical" is not vertical in the strict sense, but within the allowable error range. "Parallel" is not parallel in the strict sense, but within the allowable error range.

The directional words appearing in the following description are the directions shown in the figures and do not limit the specific structure of the present application. In the description of this application, it should also be noted that, unless otherwise clearly stated and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a fixed connection or a removable connection. Detachable connection, or integral connection; it can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in this application may be understood based on specific circumstances.

In related technologies, multi-controller systems are widely used in battery management, energy storage management and other technical fields. Multi-controller systems usually include a master controller and a multi-level slave controller. Each level of slave controller includes at least one slave controller. , the main controller and each slave controller can communicate through the bus. In addition, each slave controller is configured with two hard wires, which requires higher wiring harness costs and requires more IO detection resources.

Multi-controller systems can be applied to battery management systems (Battery Management Systems, BMS) or energy storage management systems, for example. Among them, BMS is used to intelligently manage and maintain each battery unit, monitor the status of the battery, prevent battery overcharge and over-discharge, and extend the service life of the battery. In a battery management system, a master controller and multiple slave controllers are usually included, and each slave controller is used to monitor one or more battery cells. There are usually multi-level slave controllers in the battery management system. Each slave controller is equipped with two hard wires. The cost of the wiring harness is high and it requires a lot of IO detection resources. The energy storage management system can be used for power system energy storage management, which can realize the energy storage and discharge function of the power system and ensure the large-scale development of clean energy and the safe and economical operation of the power grid. The multiple slave controllers in the energy storage management system may include, for example, slave controller A BMS and slave controller B DCDC.

Multiple slave controllers in a multi-controller system are usually set to multiple levels. Each slave controller is configured with two hard wires. The wiring harness cost is high and requires more IO detection resources. Due to the large number of hard wires , resulting in high complexity of data transmission through hard wires, prone to data transmission errors, and reducing the reliability of multi-controller systems.

In order to solve the deficiencies in the related art, one embodiment of the present application provides a multi-controller system. The multi-controller system includes a main controller and at least one branch connected to the main controller; each branch includes a controller connected in turn. At least one slave controller pair; the slave controller pair includes a first slave controller and a second slave controller connected through a hard line; the master controller communicates with each slave controller through a bus.

Hard wires can be wires, such as wires made of copper or aluminum, or wires made of silver wire, etc.

In some embodiments, the hard wire connecting the first slave controller and the second slave controller in the same slave controller pair is a wake-up line used to transmit the wake-up signal. The master controller is connected to the first slave controller of the first slave controller pair by hard-wired coding lines. The slave controller pairs in each branch are connected through hard-wired coding lines; specifically, among the two slave controller pairs connected through hard wires, the second slave controller in the previous slave controller pair It is connected to the first slave controller in the subsequent slave controller pair through a hard-wired encoding line; the hard-wired encoding line is used to transmit encoding signals.

Specifically, as shown in Figure 1, the multi-controller system may include a main controller and a branch connected to the main controller. As shown in Figure 2, the multi-controller system may include a main controller and two or more branches respectively connected to the main controller. The master controller can communicate with each slave controller through the CAN bus. CAN is the abbreviation of Controller Area Network, and CAN bus is a field bus. The first slave controller is represented by A _m and the second slave controller is represented by B _m , 1≤m≤n. The first slave controller and the second slave controller in the same slave controller pair have the same index. The encoded signal is a high-level signal.

In the example shown in Figure 1, there is only one branch in the multi-controller system, and the branch includes multiple slave controllers A (labeled A ₁ , A ₂ , A ₃ ,..., _An respectively) and Multiple slave controllers B (labeled respectively as B ₁ , B ₂ , B ₃ ,..., B _n ) are connected to each other through wake-up lines (referred to as wake-up lines). Controller A and slave controller B have a one-to-one correspondence and have a wake-up relationship. The master controller and the first slave controller A are connected through a hard-wired coding line (referred to as the coding line).

The master controller is connected to the first slave controller A ₁ through a coding line, and the slave controller A _m is connected to the slave controller B _m through a wake-up line. A _m can wake up B _m through hard wire, and the slave controller B m is connected to the slave controller B _m . Device A _(m+1) is connected via a coding line. The master controller and the slave controller are connected in the same CAN network, and coding is implemented through CAN bus communication.

In the example shown in Figure 2, the multi-controller system includes multiple branches, and each branch is connected to a main controller. Each branch can include one or multiple pairs of slave controllers connected in sequence. The slave controllers A ₁ , A ₂ , A ₃ ,..., _An are respectively connected to the master controller through coding lines.

In the related technology, two slave controllers of the same slave controller pair are connected with two hard wires: a wake-up line and a coding line. A large number of hard wires are used, resulting in higher wiring harness costs and consuming more IO detection resources. many. In the multi-controller system of the embodiment of the present application, two slave controllers in the same slave controller pair are connected through only one wake-up line, which reduces the number of required hard wires, reduces the cost of the wiring harness, and reduces the number of required IO detection resources.

As the amount of data transferred between multiple controllers in a multi-controller system continues to grow, reliable and high-speed data transmission is required between controllers managing battery cells, and accurate encoding of each slave controller is particularly important. . In related technologies, manual setting of coding methods is usually used to code slave controllers, resulting in high coding error rates and heavy manual workload. In order to solve the problems existing in the related technology, the encoding method provided by the embodiment of the present application is to perform hard-wiring on the slave controller connected to the current branch by the master controller or the encoded slave controller in the current branch. Recognition, the master controller codes the uncoded slave controllers recognized by hard wires through the bus, thereby enabling automatic coding, effectively avoiding coding errors, improving the reliability of the multi-controller system, reducing manual workload, and overcoming the This method overcomes the defects of high coding error rate and heavy manual workload caused by manually setting the coding method in related technologies.

Another embodiment of the present application provides a coding method for a multi-controller system, which can be applied to the multi-controller system in any of the above embodiments. As shown in Figure 3, in some implementations, the encoding method includes steps S10 and S20:

S10. The branches in the multi-controller system include the first branch. The master controller or the encoded slave controller in the first branch performs hard-wire identification on the hard-wired uncoded slave controller.

Specifically, the first branch is the current branch. For the current branch, the master controller or the encoded slave controller in the current branch performs hard-wire identification of the slave controller to which it is connected through hard wires.

In some embodiments, the master controller performs hard-wire identification on the slave controllers connected to itself through hard wires, including: the master controller sends a coding start instruction through the bus, and all first slave controllers in the multi-controller system Enter the encoding mode; the master controller sends an encoding signal to the connected first slave controller through a hard-wired encoding line, so that the connected first slave controller is hard-wired after receiving the encoding signal.

Specifically, each branch in the multi-controller system includes at least one slave controller pair connected in sequence, and the slave controller pair includes a first slave controller and a second slave controller connected through a hard line. The master controller sends an encoding start instruction through the bus, and all first slave controllers in the multi-controller system enter the encoding mode after receiving the encoding start instruction.

Hard wire identification means that the encoding line or wake-up line connected to the current controller can recognize that the controller needs to be encoded after there is a signal input. Other controllers that have no signal input do not need to be encoded. The main controller performs hard-wire identification on the first slave controller, thereby facilitating the main controller to encode the first slave controller after hard-wire identification.

In some examples, the encoding line is connected to the encoding pin of the controller, the wake-up line is connected to the wake-up pin of the controller, and the encoding pin and the wake-up pin are different pins. In the encoding state of a multi-controller system, the first slave controller in the same slave controller pair sends a wake-up signal to the second slave controller through the wake-up line. The second slave controller is awakened, and the master controller can be awakened. The second slave controller performs encoding. When the multi-controller system is in a non-coding state, the first master controller sends a wake-up signal through the wake-up line to wake up the second slave controller, and no subsequent coding operation is performed.

S20. The master controller encodes the uncoded slave controller recognized by the hard wire through the bus.

In some embodiments, the master controller encodes the unencoded slave controller recognized by the hardwire through the bus, which may include: the master controller generates an encoding address, and sends the encoded address to the slave controller identified by the hardwire through the bus. ;The slave controller recognized by the hardwire writes the encoded address into its own storage space. The master controller encodes the hard-wired identified slave controller through the bus, thereby ensuring a one-to-one correspondence between the slave controller and the encoded address.

For example, the master controller generates the encoding address 001 for the slave controller A1, sends the encoding address 001 to the slave controller A1 recognized by the hard wire through the bus, and the slave controller A1 recognized by the hard wire writes the encoding address 001 into its own storage space. Inside. The encoded address of the slave controller is unique, and the slave controller can be accurately identified through the encoded address.

In some implementations, as shown in Figure 4, the encoding method may also include:

S30. The encoded slave controller completes hardwire recognition of the hardwired slave controller and enters a silent state.

Specifically, the encoded slave controller completes hardwire identification of the next slave controller connected to itself through a hardwire and then enters a silent state. The first slave controller and the second slave controller in the same slave controller pair, the first slave controller and the second slave controller are connected through a wake-up line, and the encoded first slave controller sends a signal to the connected slave controller through the wake-up line. The second slave controller sends a wake-up signal to wake up the second slave controller, that is, the hard-wire identification of the second slave controller is completed, and then the first slave controller enters a silent state. The encoded second slave controller sends a high-level signal to the first slave controller in the next slave controller pair to which it is connected through the encoding line. The first slave controller receives the high-level signal and is Hardwire recognition occurs and then the second slave controller enters a silent state. After the encoded slave controller enters the silent state, it no longer participates in the encoding process of the entire multi-controller system in the current encoding cycle.

S40. Return to step S20 for loop execution until the master controller determines that the slave controllers that need to be encoded in the first branch have completed encoding, thereby realizing automatic encoding of the current branch, effectively avoiding encoding errors, and improving multi-controller efficiency. The reliability of the system reduces manual workload.

After the master controller completes the hard-wire identification and encoding operations for the slave controllers connected to itself, the encoded slave controller in the current branch performs hard-wire identification and coding for the slave controllers connected to itself through hard wires, that is, subsequent The hard-wire identification operations are all performed by the slave controller on the next slave controller connected to itself, so steps S20 and S30 are executed in a loop until all slave controllers that need to be encoded in the current branch complete the encoding, that is, the current branch is completed. The encoding of the branch.

As shown in Figure 2, in the multi-controller system, when there are multiple branches in the multi-controller system, the above steps of encoding a branch are used for each branch in turn to complete the slave control that needs to be encoded in the branch. The encoding of the device. For example, first encode the branch where A1 is located through the above-mentioned branch encoding steps. After the branch encoding is completed, the branch where A2 is located is encoded, and so on, until all branches are encoded.

In some embodiments, the master controller determines that the slave controllers in the first branch that need to be encoded have completed encoding, including: determining whether the number of generated encoding addresses is equal to the predetermined number of slave controllers that need to be encoded in the first branch. Set the number; if equal, it is determined that the slave controllers in the first branch that need to be encoded have all been encoded; otherwise, it is determined that they have not been completed, so that an accurate judgment on whether the current branch has been encoded can be achieved to avoid missing some slave controllers. encoder operation.

Illustratively, the main controller accumulates a count of the encoded addresses it generates. If the preset number of slave controllers that need to be encoded in the current branch is m, and when the master controller determines that the number of generated encoding addresses reaches m, it is determined that all the slave controllers that need to be encoded in the current branch have completed encoding. If the number of generated encoding addresses is less than m, it is determined that the current branch has not completed encoding.

In some embodiments, the master controller encodes the uncoded slave controller recognized by the hardwire through the bus, which may also include: the slave controller recognized by the hardwire sends its own encoding address to the master controller. ;The main controller determines whether the received encoding address is consistent with the encoding address generated by itself; if the received encoding address is consistent with the encoding address generated by itself, it is determined that the encoding is successful. The main controller determines whether encoding is successful, thereby ensuring high encoding accuracy.

For example, the slave controller A ₁ that is hardwired will send the encoding address 001 written in its own storage space to the master controller. The master controller will compare the received encoding address with the encoding address generated for the slave controller A ₁ Compare, and when the two are consistent, it is determined that the encoding is successful, otherwise it means that the encoding of _A1 is unsuccessful.

In some implementations, the encoding method may also include:

If the received coded address is inconsistent with the coded address generated by itself, the step of sending the coded address to the slave controller recognized by the hard wire is re-executed; if the master controller does not receive the code when the preset time is reached or the preset number of retransmissions is reached. When the encoding address consistent with the encoding address generated by itself is reached, the encoding operation ends. Re-executing the step of sending the encoding address when encoding is unsuccessful can improve the encoding success rate.

When the encoding address received by the main controller is inconsistent with the encoding address generated by itself, it means that the encoding is unsuccessful. For example, if the encoding address sent by _A1 received by the main controller is 002, and the encoding address generated by the main controller is A1 The encoding address is 001, and the two are inconsistent, indicating that the encoding was unsuccessful. After determining that the encoding was unsuccessful, the master controller resends the encoding address to the slave controller identified by the hardwire.

If the encoding success is still not determined within the preset time period, such as 2s, 3s or 4s, or the number of retransmissions reaches the preset number of retransmissions, such as 5, 6 or 8 times, etc., it indicates that there may be a fault within the multi-controller system. , it is necessary to end the encoding operation at this time to avoid wasting resources caused by repeatedly performing the operation of resending the encoding address. The preset duration and the preset number of retransmissions can be set according to actual application needs.

In some embodiments, the first slave controller and the second slave controller in the same slave controller pair are connected through a wake-up line; the encoded slave controller performs a hard call on the next slave controller to which it is connected through a hard wire. Line identification, including: if the encoded slave controller is the first slave controller, the encoded first slave controller wakes up the second slave controller connected to itself through the wake-up line when the encoding is completed and reaches the preset delay time. The awakened second slave controller becomes the slave controller recognized by the hardwire; if the encoded slave controller is the second slave controller, the encoded second slave controller passes through the hardware after a preset period of time. The line coding line sends a coding signal to the next first slave controller connected to itself, so that the next first slave controller becomes a slave controller recognized by the hard line. Identifying the slave controller through hard wires facilitates the master controller to perform encoding operations on the slave controllers identified through hard wires, thereby improving the coding accuracy.

For example, a slave controller pair includes a slave controller A _m and a slave controller B _m connected through a wake-up line. The encoded Am reaches a preset delay time after the encoding is completed (the preset delay time may be, for example, (1s, 1.5s or 2s, which can be set according to actual needs), wake up the B _m connected to itself through the wake-up line, and the awakened B _m becomes the slave controller recognized by the hard wire; the encoded slave controller B _m sends a coding signal to the next first slave controller A _(m+1) connected to itself through a hard-wired coding line, so that A _(m+1) becomes a slave controller recognized by the hard wire. Setting the preset delay length can reserve enough time to ensure that the master controller updates the coding address, thereby avoiding miscoding of the awakened second slave controller.

In some embodiments, before the encoded slave controller performs hardwire identification on the next slave controller to which it is connected through a hardwire, the encoding method further includes:

The main controller sends a coding success confirmation command; after encoding, the slave controller receives the coding success confirmation command and sends a coding success feedback signal to the main controller; the main controller receives the feedback signal and updates the current coding address. After receiving the feedback signal, the main controller updates the current encoding address, further improving the encoding accuracy and effectively avoiding miscoding.

The way to update the current encoding address is usually to add 1 to the current encoding address. For example, if the current encoding address is 001, then the main controller will add 1 to the current encoding address 001 to get 002 after receiving the encoding success feedback signal, and update 001 with the new encoding address 002.

The coding of slave controllers in related technologies is achieved through manual settings, which is prone to coding errors and requires a large amount of manual labor. The coding method of the embodiment of the present application can realize automatic coding, improve coding accuracy and reliability, and reduce the amount of manual labor. .

A specific example of coding method for a multi-controller system includes the following steps:

Step 1. The main controller sends the encoding start command through the CAN bus, and all slave controllers A enter the encoding mode;

Step 2. The master controller pulls the encoding line high and sends the encoding address. The slave controller A that is not pulled high remains silent;

Step 3. The pulled-up slave controller writes the received encoding address. After confirming that the written encoding address is consistent with the expected address, the master controller sends a encoding success signal;

Step 4. After receiving the encoding success signal, slave controller A feedbacks that the encoding is completed, and delays wake-up of slave controller B for 1 second (the delayed wake-up is to ensure that the encoding address of the master controller has been +1, thereby preventing slave controller B from being Error coding), then controller A ends the coding operation and enters a silent state;

Step 5. If the main controller confirms that the encoding address is inconsistent with the expected address, it will resend the encoding instruction and encoding address and make a timeout judgment. If the correct encoding address is not received after the set time, it will determine that the encoding failed and exit the encoding process;

Step 6. After the master controller receives the encoding completion instruction from slave controller A, it automatically encodes the address +1 and sends it to the slave controller;

Step 7. After the slave controller B wakes up, it writes the encoding address. The master controller confirms that the encoding address is consistent with the expected address, then it is determined that the encoding is sent successfully;

Step 8. After successfully receiving the encoding from controller B, it will feedback that the encoding is completed and pull up the encoding line of the next slave controller A;

Repeat process steps 3 to 8 until the master controller determines that the number of generated encoding addresses is equal to the number of slave controllers that need to be encoded, then the encoding operation ends and the encoding process exits.

In the encoding method of this example, the master controller pulls the encoding line of the first slave controller A ₁ high (pulling the encoding line high means inputting a high level signal to A ₁ through the encoding line), and sends the ID through the CAN bus ( ID (encoding address) encodes A _1. After A ₁ is encoded, it wakes up the slave controller B _1. The master controller sends the ID to B ₁ to encode through CAN. After B ₁ is encoded, it pulls the A ₂ encoding line of the controller high. , the main controller sends the ID to A ₂ code through CAN, and so on.

Referring to Figure 5, in a specific example of the encoding method, the main controller starts the encoding process and sends encoding instructions. After receiving the encoding instructions, slave controller A enters the encoding mode; the master controller pulls up the encoding of slave controller A. line, and then sends the encoding address; the pulled-up slave controller A receives the encoding address, writes the encoding address into its own storage space, and then sends the written encoding address to the master controller; the master controller compares the encoding address with the expected address (the expected address is the encoding address generated by the master controller) to determine whether they are consistent; if they are inconsistent, resend the encoding address; if they are consistent, send a confirmation encoding success instruction to slave controller A; slave control After receiving the confirmation encoding success command, controller A confirms whether the encoding is successful; if the encoding is unsuccessful, slave controller A receives the encoding address resent from the main controller and rewrites it into its own storage space; if the encoding is successful, slave controller A The master controller feeds back the instruction to complete the encoding, wakes up the slave controller B after a delay of 1 second, then exits encoding and enters a silent state; after receiving the instruction to complete the encoding, the master controller updates the current encoding address and sends it to the awakened From controller B, start encoding slave controller B; the process of encoding slave controller B can refer to the process of encoding slave controller A, which will not be described again here; when slave controller B is encoded, After that, pull up the next slave controller A, then exit encoding and enter a silent state; end encoding when the master controller detects that the number of generated encoding addresses is equal to the number of slave controllers that need to be encoded.

Multiple slave controllers A or multiple slave controllers B have the same hardware and are easily confused. After completing the hard-wired identification of the slave controller, encode the hard-wired identified slave controller through CAN and write the ID ( ID is the coded address), ensuring a one-to-one correspondence between the ID and the controller.

This coding method can realize automatic coding, effectively avoid coding errors, improve coding accuracy, improve the reliability of multi-controller systems, reduce manual workload, and overcome the coding error rate caused by manual setting of coding methods in related technologies. High and manual workload.

Another embodiment of the present application provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. The processor executes the program to implement The encoding method of the multi-controller system in any of the above embodiments.

As shown in Figure 6, the electronic device 10 may include: a processor 100, a memory 101, a bus 102 and a communication interface 103. The processor 100, the communication interface 103 and the memory 101 are connected through the bus 102; the memory 101 stores information that can be stored in the processor. A computer program running on the computer 100. When the processor 100 runs the computer program, the method provided by any of the foregoing embodiments of the application is executed.

Among them, the memory 101 may include high-speed random access memory (RAM: Random Access Memory), or may also include non-volatile memory (non-volatile memory), such as at least one disk memory. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 103 (which can be wired or wireless), and the Internet, wide area network, local network, metropolitan area network, etc. can be used.

The bus 102 may be an ISA bus, a PCI bus, an EISA bus, etc. The bus can be divided into address bus, data bus, control bus, etc. The memory 101 is used to store a program, and the processor 100 executes the program after receiving the execution instruction. The method disclosed in any of the embodiments of the present application can be applied to the processor 100 or implemented by the processor 100 .

The processor 100 may be an integrated circuit chip with signal processing capabilities. During the implementation process, each step of the above method can be completed by instructions in the form of hardware integrated logic circuits or software in the processor 100 . The above-mentioned processor 100 can be a general-purpose processor, which can include a central processing unit (Central Processing Unit, CPU for short), a network processor (Network Processor, NP for short), etc.; it can also be a digital signal processor (DSP), a dedicated integrated processor Circuits (ASICs), off-the-shelf programmable gate arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. Each method, step and logical block diagram disclosed in the embodiment of this application can be implemented or executed. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc. The steps of the method disclosed in conjunction with the embodiments of the present application can be directly implemented by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software module can be located in random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, registers and other mature storage media in this field. The storage medium is located in the memory 101. The processor 100 reads the information in the memory 101 and completes the steps of the above method in combination with its hardware.

The electronic device provided by the embodiments of the present application and the method provided by the embodiments of the present application are based on the same inventive concept, and have the same beneficial effects as the methods adopted, run or implemented.

Another embodiment of the present application provides a computer-readable storage medium on which a computer program is stored, and the program is executed by a processor to implement the encoding method of the multi-controller system in any of the above embodiments.

Referring to Figure 7, the computer-readable storage medium shown is an optical disk 20, on which a computer program (ie, a program product) is stored. When the computer program is run by a processor, it will execute any of the foregoing embodiments. method.

It should be noted that examples of computer-readable storage media may also include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), and other types of random access memory. Memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other optical and magnetic storage media will not be described in detail here.

The computer-readable storage medium provided by the above-mentioned embodiments of the present application is based on the same inventive concept as the method provided by the embodiments of the present application, and has the same beneficial effects as the methods adopted, run or implemented by the application programs stored therein.

Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented with electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each specific application, but such implementations should not be considered beyond the scope of this application.

Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, devices and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be described again here.

In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or can be integrated into another system, or some features can be ignored, or not implemented. On the other hand, the coupling or direct coupling or communication connection between each other shown or discussed may be through some interfaces, and the indirect coupling or communication connection of the devices or units may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or they may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present application can be integrated into one processing unit, each unit can exist physically alone, or two or more units can be integrated into one unit.

If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application essentially or the part that contributes to the existing technology or the part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions. It is used to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of this application. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program code. .

The above are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application. should be covered by the protection scope of this application. Therefore, the protection scope of this application should be determined by the protection scope of the claims.

Claims

A multi-controller system, characterized in that it includes a main controller and at least one branch connected to the main controller; the at least one branch includes at least one pair of slave controllers connected in sequence;

The pair of slave controllers includes a first slave controller and a second slave controller connected by a hard line;

The main controller communicates with each of the slave controllers through a bus.
The multi-controller system according to claim 1, wherein the hard wire connecting the first slave controller and the second slave controller in the same pair of slave controllers is a wake-up line used to transmit a wake-up signal;

The master controller is connected to the first slave controller of the first pair of slave controllers through a hard-wired coding line;

Each slave controller pair in the at least one branch is connected through a hard-wired coding line;

The hardwired code lines are used to transmit coded signals.
A coding method for a multi-controller system, characterized in that it is applied to the multi-controller system according to claim 1 or 2; the method includes:

The at least one branch includes a first branch, and the master controller or the encoded slave controller in the first branch performs hard-wire identification on the uncoded slave controller that is hard-wired;

The master controller encodes the unencoded slave controllers recognized by the hardwire over the bus.
The method of claim 3, further comprising:

The encoded slave controller completes hardwire recognition of the hardwired slave controller and enters a silent state;

The step of returning to the main controller to encode the uncoded slave controllers identified by hard wires through the bus is performed cyclically until the main controller determines that all the slave controllers in the first branch that need to be encoded are until coding is completed.
The method according to claim 4, characterized in that the master controller determines that all slave controllers that need to be encoded in the first branch have completed encoding, including:

Determine whether the number of generated encoding addresses is equal to the preset number of slave controllers that need to be encoded in the first branch;

If equal, it is determined that all the slave controllers that need to be coded in the first branch have been coded; otherwise, it is determined that the code has not been completed.
The method according to claim 3, characterized in that the master controller performs hard-wire identification on the hard-wired unencoded slave controller, including:

The main controller sends a coding start instruction through the bus, and all the first slave controllers enter coding mode;

The master controller sends a coding signal to the connected first slave controller through a hard-wired coding line, so that the connected first slave controller is hard-wired after receiving the coding signal.
The method of claim 3, wherein the master controller encodes the unencoded slave controller identified by hard wire through the bus, including:

The master controller generates a coded address and sends the coded address through the bus to the hardwired identified slave controller;

The hard-wired identified slave controller writes the encoded address into its own storage space.
The method of claim 8, wherein the master controller encodes the unencoded slave controller identified by hard wire through the bus, further comprising:

The slave controller recognized by the hard wire sends its own coded address to the master controller;

The main controller determines whether the received coded address is consistent with the coded address generated by itself;

If the received encoding address is consistent with the self-generated encoding address, it is determined that the encoding is successful.
The method of claim 9, further comprising:

If the received coded address is inconsistent with the self-generated coded address, re-execute the step of sending the coded address to the slave controller identified by the hardwire;

If the main controller does not receive an encoding address that is consistent with the encoding address generated by itself when the preset time period or the preset number of retransmissions is reached, the encoding operation ends.
The method according to claim 4, characterized in that the hard wire connecting the first slave controller and the second slave controller in the same pair of slave controllers is a wake-up line used to transmit a wake-up signal;

The encoded slave controller performs hardwire identification on the next slave controller connected to itself through a hardwire, including:

If the encoded slave controller is the first slave controller, the encoded first slave controller wakes up the second slave controller connected to itself through the wake-up line when the encoding is completed and reaches the preset delay time. The awakened second slave controller becomes the hardwired recognized slave controller;

If the coded slave controller is a second slave controller, the coded second slave controller will send a coded signal to the next first slave controller connected to itself through a hard-wired coding line after a preset period of time. , making the next first slave controller become the slave controller recognized by hardwire.
The method according to claim 4, characterized in that, before the encoded slave controller performs hard-wire identification on the next slave controller to which it is connected through a hard-wire, the method further includes:

The main controller sends a coding success confirmation instruction;

After the encoded slave controller receives the encoding success confirmation instruction, it sends an encoding success feedback signal to the master controller;

The main controller receives the feedback signal and updates the current encoding address.
An electronic device, characterized in that it includes a memory, a processor and a computer program stored on the memory and executable on the processor, and the processor executes the program to implement claims 3- The method described in any one of 12.
A computer-readable storage medium with a computer program stored thereon, characterized in that the program is executed by a processor to implement the method as claimed in any one of claims 3-12.