CN101582799B - Bus switch method based on CAN redundance - Google Patents
Bus switch method based on CAN redundance Download PDFInfo
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Abstract
The invention discloses a bus switch method based on CAN redundance, comprising the steps: 1) judging nodes are sending nodes or receiving nodes; if being the sending nodes, entering the step 2); if being the receiving nodes, entering the step 5); 2) judging whether the sending nodes are sent overtime; if yes, entering the step 3); if not, entering the step 4); 3) retransmitting by a switch bus; 4) monitoring the sending nodes until overtime or receiving response frame of the receiving nodes; 5) judging whether the receiving nodes are sent overtime; if yes, entering the step 6); if not, entering the step 7); 6) using a broadcast switch bus to inform other node switch buses to retransmit data; 7) receiving the response frame sent by the nodes as the response for the sending nodes, and showing that the data is successfully sent and received. The method can ensure the reliable accuracy and real-time property of data reception.
Description
Technical field
The invention belongs to CAN network communications technology field, particularly a kind of bus switch method based on the CAN redundancy.
Background technology
An effective way that solves the communication of CAN network reliability is exactly that bus is carried out in various degree redundancy.Although the CAN redundancy is the common method that solves the CAN network reliability, nobody's research is based on the bus switch method of CAN redundancy.Many designers are in the situation that send failure or take defeat and cause overtimely, switch bus.Undoubtedly wait timeout during this period of time in, the node that receive data is made mistakes will miss a lot of valid data frames, has reduced total line use ratio.Yet a kind of good bus switch method based on the CAN redundancy should be to make receiving node few Frame that misses of trying one's best, thereby has improved total line use ratio, and the data that also guaranteed the CAN network are stable the transmission correctly, strengthened the real-time of CAN network.
Summary of the invention
The technical problem to be solved in the present invention provides a kind of bus switch method based on the CAN redundancy that can guarantee reliable accuracy and the real-time of data receiver.
In order to solve the problems of the technologies described above, the invention provides a kind of bus switch method based on the CAN redundancy, may further comprise the steps:
1), judges it is sending node or receiving node; When being sending node, enter step 2); When being receiving node, enter step 5);
2), judge whether sending node sends overtime; When being judged as "Yes", enter step 3), when being judged as "No", then enter step 4);
3), switching bus resends;
4), sending node monitors bus until overtime or receive the response frame of receiving node, represents successfully to send data;
5), judge whether receive time-out of receiving node; When being judged as "Yes", enter step 6), when being judged as "No", then enter step 7),
6), switch bus by broadcasting, inform that other nodes switch buses and resend data;
7), receiving node sends response frame, as the response to sending node, the expression data send also and receive successfully.
Improvement as the bus switch method based on the CAN redundancy of the present invention: judge whether sending node sends overtime standard and be step 2): whether the transmitting time of sending node surpasses the longest transmitting time that the user sets, and thinks that above this value this secondary data sends unsuccessfully.
Further improvement as the bus switch method based on the CAN redundancy of the present invention: judge whether receiving node sends overtime standard and be step 5): whether the reception mistake of receiving node exceeds the threshold value of setting, and this threshold value is the user-defined maximum reception errors number that can stand.
Further improvement as the bus switch method based on the CAN redundancy of the present invention: synchronization can only have a bus to send data; Use the software buffering area to send the Buffer Pool of data as the user, use the transmission of three hardware buffer district expedited data frames of development board; Restart controller or switch bus and resend or continue receiving data frames when threshold value and timeout mechanism being set being used for communication and breaking down; With node indicator light prompting user bus failure, need in time to recover bus.
Further improvement as the bus switch method based on the CAN redundancy of the present invention: step 3) be specially and carry out successively following steps:
A), restart controller resends; As send successfully, then enter step B); Unsuccessful as still sending, so that transmission is overtime, then enter step C);
B), monitor to wait for the response frame on the network, represent that when receiving the response frame of receiving node this secondary data transmits successfully;
C), judge whether all the other buses available, have any (at least one) bus to use such as all the other buses, then adopt this bus to resend; If all the other buses all can not be used, then prompting user waits for that the user recovers.
Further improvement as the bus switch method based on the CAN redundancy of the present invention: step 6) be specially and carry out successively following steps:
Judge whether all the other buses are available, have any (at least one) bus to use such as all the other buses, then broadcasting is switched bus, is restarted former controller, (representing that this node is not receive the valid data frame in this bus); If another bus is unavailable, then restart former controller.
Foregoing is as shown in Figure 1: when switching bus, namely use another set of controller, transceiver.Before network transmitted beginning, controller is initialization, but owing to will initially melt some register or some software miscount of controller, so will reinitialize controller, namely was restart controller.
In the bus switch method based on the CAN redundancy in the present invention: send the software buffering area structural array (Buffer) of Frame at record of each design of node, so that Frame need not to shift when bus switch.Judge whether full condition is the software buffering area: the valid data in the data buffer zone whether==NUM-1.NUM is the heap(ed) capacity of software buffering area.Why cutting 1, is to reserve a data buffering area for the special data frame; Why reserving a data buffering area for special frames, is in order to prevent that special frames can't in time send when the software buffering area is piled Frame.Must guarantee that the special data frame can send timely.When sending special frames, be inserted into the reserved location of software buffering area, can guarantee its preferential transmission.The special data frame comprises the bus switch frame Change_Send_Frame of sending node, the bus switch frame Change_REV_Frame of receiving node.When Change_Send_Frame refers to that sending node is overtime, mail to the switching bus frame of each node, notify the former passage of each node to break down; And Change_REV_Frame is the switching bus frame that receiving node is broadcasted when the reception mistake exceeds threshold value, and does not mean that former bus breaks down, the switching bus of just taking in order to reduce the receiving node lost data frames as far as possible.
When utilizing the CAN redundancy to improve the reliability of CAN network communication, the bus switch method based on the CAN redundancy of the present invention is conducive to improve total line use ratio, the reliable and secure property of network communication and network real-time.Bus switch method based on the CAN redundancy of the present invention, be used for guaranteeing that sending node can successfully send data, receiving node can receive data, and few lost data frames of trying one's best, thereby has guaranteed reliable accuracy, real-time, the fail safe of data receiver.
In the present invention, can avoid because of the bus hardware fault wait for no reason always by the time receive time-out (in the CAN network, time out period arranges the time length that certainly exceeds threshold value than misdata), wait for during this period of time in, may miss the data that other nodes transmit at this fault bus.Simply saying, is exactly that receiving node does not arrange time-out time, just switches bus and send data when the reception mistake exceeds threshold value.Attention: (1) count of receive error value surpasses threshold value then can switch bus, but does not represent that this bus breaks down, but in order to reduce lost data frames as far as possible, so that this node can in time be received Frame.When (2) sending the error count value and exceed threshold value, will restart controller, do not switch bus.It is large that the cost ratio that switches after all bus is restarted controller.After restarting, still can not send successfully, overtime interrupt then can occur switch bus, resend.
Take two CAN networks as example, threshold value is set in the present invention and timeout mechanism is used for restarting the CAN controller when communication is broken down or switching bus, is mainly reflected in:
● when sending node sends the error count value above certain threshold value, then restart the CAN controller and resend; If it is unsuccessful that restart controller still sends, in the time of overtime down to transmission, so: if another bus can resend with then switching bus; If the unavailable then double bus of another bus is all stopped using, and notify the user (waiting for that the user recovers).
● when receiving node when the count of receive error value surpasses certain threshold value: if another bus can be used, then restart CAN controller, broadcasting switching bus that this node is using, (broadcast transmission special data frame on the CAN network, notify each node: this node does not receive the valid data frame in this bus, and all nodes need to switch on another bus and send data); If another bus is unavailable, then restart the CAN controller of this node.
The transmission timer of sending node utilizes the system clock timing, begins timing when Frame is put into the software buffering area, and the member variable time value assignment of this Frame is added threshold period tick number for the system clock tick value of this moment.Whether the Frame time that will judge software buffering area head when tick++ is overtime.The inner automatically record of CAN controller sends mistake, receives errors number.By the setting to the related register of CAN controller, when making transmitter, receiver surpass certain threshold value in error count, trigger and interrupt.The count of receive error value surpasses threshold value then can switch bus, but does not represent that another bus breaks down, but in order to reduce lost data frames as far as possible, needn't wait by the time the overtime bus of switching again.When sending the error count value and exceeding threshold value, will restart controller, do not switch bus.Because switching the cost ratio of bus, to restart controller large.After restarting, still can not send successfully, overtime interrupt switching bus then can occur resend.
The software buffering area structural array (Buffer) of a record data frame of each design of node is so that Frame need not to shift when bus switch.The data structure of software buffer data frame Soft_Frame (being the data structure of array element) is as follows:
| Typedef struct Soft_Frame{ INT32U id; The ID of the bus switch frame that the bus switch frame that // sending node sends, receiving node send // bus recovery frame is respectively 0,1,2 INT8U type; The type of // Frame (expansion frame, standard frame, Frame, remote frame) INT8U data[8]; INT8U datalen; INT8U prio; // priority levels of buffers (being Frame priority) |
Judge whether full condition is the software buffering area: whether the valid data number in the buffering area equals NUM-1 (NUM is the heap(ed) capacity of software buffering area).In order to prevent that special frames can't send when the software buffering area is piled Frame, we will reserve a data buffering area for special frames in the software buffering area.When sending switching bus frame, we are inserted into the reserved location of software buffering area, and preferential the transmission.So, when the number of the Frame in the software buffering area is NUM-1, just represent that the software buffering area is full.
We incrementally distribute priority for normal data frame according to the order that arrives the software buffering area.For the transmission that guarantees Frame according to arriving first the principle that sends first, (priority register in the hardware buffer district is 8 when priority is incremented to 255,256 different priorities are arranged at most), the user continues to put into Frame in the software buffering area then can return mistake, until being 255 Frame, priority is sent, the software buffering area can receive user's Frame again, and the priority of Frame increases progressively since 1.
The special data frame comprises the bus switch frame Change_Send_Frame of sending node, bus switch frame Change_REV_Frame and the bus recovery frame Recov_Frame of receiving node.When the bus switch frame of sending node refers to that sending node is overtime, mail to the switching bus frame of each node, notify the former passage of each node to break down; And the bus switch frame of receiving node is the switching bus frame that receiving node is broadcasted when the reception mistake exceeds threshold value, and does not mean that former bus breaks down, the switching bus measure of just taking in order to reduce the receiving node lost data frames as far as possible; The bus recovery frame is that the original bad passage of each node of user notification can recover to use.Its ID is respectively 0,1, and 2; And the priority of Change_REV_Frame, Change_Send_Frame is that 0 (these two kinds of Frames can not occur simultaneously, so priority can be identical), meaning when such frame arrives the reserved location of software buffering area, will be first Frame that is successfully sent (because the transmission of other Frames of current software buffering area is blocked on another bus); The priority of other frames definitely can not be 0; The priority of Recov_Frame is identical with the general data frame, otherwise will affect the operation of the head of the queue Frame that sends the removal software buffering area that successfully interrupts, successfully interruption is always deleted software buffering area reserved location or (if reserved location is for empty) put in the first place because send, Recov_Frame arrives the software buffering area during the normal transmission of other Frames, if be placed on the special frames position, then can successfully be sent ISR and delete mistakenly this special frames, and in fact this Frame does not also send.Best solution is that the bus recovery frame is placed the 4th frame position, but expense is too large, need to be moving behind all Frames behind the 5th position.The design does following processing: switch the first-in-chain(FIC) that the bus frame directly is inserted into the software buffering area, guarantee its preferential transmission; The bus recovery frame is processed as the general data frame, is inserted into software number of buffer group end.
Experimental results show that: when the bus of using breaks down, this design can normally send Frame, and has adopted the receiving node missing data frame of this bus switch method to lack than the node that does not adopt this bus switch method.The method can guarantee that sending node can successfully send data, and receiving node is receive data correctly, and few lost data frames of trying one's best, thereby has guaranteed reliable accuracy, the real-time of data receiver.
Description of drawings
Below in conjunction with accompanying drawing the specific embodiment of the present invention is described in further detail.
Fig. 1 is CAN redundancy structure figure;
Fig. 2 is the flow chart of Fig. 1 when sending data;
Flow chart when Fig. 3 is Fig. 1 receive data;
Fig. 4 is the flow chart of Fig. 1 when resending data;
Fig. 5 is the interruption flow charts of Fig. 1 data when sending successfully;
Fig. 6 is the flow chart that Fig. 1 mistake exceeds threshold process;
Fig. 7 is the flow chart of the overtime switching bus of Fig. 1.
Embodiment
Embodiment 1, a two CAN network as shown in Figure 1 adopt two cover buses (being bus A and bus B), and every cover bus all comprises complete bus cable, bus driver, bus control unit.
In order in above-mentioned pair of CAN network, to realize therefore being handled as follows the bus switch method based on the CAN redundancy of the present invention:
When sending node sends the error count value above certain threshold value, then restart the CAN controller and resend, restarting the CAN controller mainly is some register mistake of removing in the controller; If it is unsuccessful that restart controller still sends, when overtime down to transmission, so: if another bus can resend with then switching bus; If the unavailable then double bus of another bus is all stopped using, and with this node indicator light prompting user, wait for that the user detects the bus path of this node and in time recovery.
When receiving node when the count of receive error value surpasses certain threshold value: if another bus can be used, then restart CAN controller, broadcasting switching bus (broadcast transmission special data frame on the CAN network that this node is using, notify each node: this node does not receive the valid data frame in this bus, and all nodes need to switch on another bus and send data); If another bus is unavailable, then restart the CAN controller of this node, until overtime, node is stopped using and is waited for that the user recovers.
Embodiment 2, to the bus switch method based on the CAN redundancy that 1 described pair of CAN network of embodiment carries out, two CAN buses are opened simultaneously, but a certain moment only have at most bus to send data, with the receive data mistake of avoiding asynchronous problem to cause.Use the software buffering area to send the Buffer Pool of data as the user, when three hardware buffer districts of node are available free, just the data in the software buffering area are put into the hardware buffer district, carry out the transmission of Frame; Threshold value and timeout mechanism are set to be restarted the CAN controller or switches bus for communication when breaking down; Utilize the light on and off of the LED lamp of each bus node to come the prompting user bus failure, in time recover bus.
Specifically carry out successively following steps:
1), judge that this node belongs to sending node or receiving node, enters step 2 if belong to sending node), enter step 7 if belong to receiving node);
2), the flow process of sending node transmission data specifically as shown in Figure 2: overtime some deadline of transmission of record data when Frame sends the order beginning, then Frame is put into the software buffering area, further put into hardware buffer district etc. if the hardware buffer district is available free to be sent, hardware register is the transmission error number in the record process of transmitting automatically.After the transmission mistake exceeds the threshold value of user's setting, will enter step 3); Otherwise be to send successfully when receiving the response frame of receiving node, enter step 4).
3) error count exceeds the interrupt handling routine of threshold value, concrete as Fig. 6: when being that the transmission mistake is when exceeding threshold value, judge whether sending node sends overtime, whether the transmitting time of namely judging sending node surpasses the longest transmitting time that the user sets, surpass this value and then enter step 5), otherwise restart controller resends data, enters step 6); When being when receiving mistake and exceeding threshold value, judge namely whether another bus is available, can use such as another bus, then broadcasting switching to available bus, transmitting and receiving data, and restart the controller of original bus; If another is also unavailable, then restart former controller and the prompting user form of indicator light (for example with), wait for that the user recovers, when the user stops using in article one CAN bus, the bus of just should trying every possible means in time to recover.
4) successfully sending data interrupts processing specifically as shown in Figure 5: remove the Frame that has sent among the software buffer, and reading software buffering area, if can read Frame to be sent, then put it into the hardware buffer that produces this interruption medium to be sent, and remove the empty flag bit of hardware buffer; If read less than Frame, the software buffer empty is described, do not wait to be sent to Frame, then forbidden energy hardware buffer is disconnected in the air.
5) switch the bus handling process specifically as shown in Figure 7: if another bus can with reinitialize original controller, the former bus of juxtaposition indicator light prompting user is hung, wait for that the user in time recovers, then switch to available bus and resend Frame, namely enter step 6); If another bus is unavailable, then reinitialize this controller and passage is set and hang, light indicator light prompting user node and may hang, in time recover.
6) resend data flow specifically as shown in Figure 4: when software buffer data size is 0, return mistake; When data are not 0, if there is special frames, then special frames is begun timing and special frames is at first put into the hardware buffer district medium to be sent; If there is no special frames is then put into the hardware buffer district with the Frame of buffer+head position medium to be sent.
7) the reception flow process of receiving node specifically as shown in Figure 3: when when count of receive error does not exceed threshold value, just successfully receive data, then think the data receiver success can send response frame from the trend sender.Receiving node is according to type of process data or the bus state of Frame; After exceeding threshold value, mistake just turns to step 3 if receive).
In order to prove that method of the present invention can guarantee reliable accuracy and the real-time of data receiver really, the inventor has done following contrast experiment:
Select embodiment 1 described CAN redundant network.Then according to embodiment 2 described methods, the fault that may cause according to the CAN communication network system (such as the fault of fault, bus control unit even the single-chip microcomputer of the broken string of cable or short circuit, CAN bus driver, the interference in CAN network-external magnetic field etc.), the network of the bus switch method of the present invention's proposition has been adopted in test and contrast, with the network that does not adopt the method, the difference on the performance of stability that Frame receives, correctness, real-time.
The hardware environment of this method test:
1.HCS12 three of development boards: as CAN node (the HCS12 development board is integrated in the CAN controller in this development board).
2.CAN some of buses: be used for connecting into the CAN network.
3. fever writes: be used for the programming application program to the HCS12 development board.
The software environment of this equipment, method test:
1.CAN debugging acid ZLGCANTest: be used for the Frame that testing CAN receives.
2.CodeWarrior IDE: be used for compiling the code of programming to the HCS12.
Can prove by this test, method of the present invention can be so that sending node successfully sends data, and receiving node receives data, and few lost data frames of trying one's best, thereby has guaranteed reliable accuracy, the real-time of data receiver.
At last, it is also to be noted that, what more than enumerate only is several specific embodiments of the present invention.Obviously, the invention is not restricted to above embodiment, many distortion can also be arranged.All distortion that those of ordinary skill in the art can directly derive or associate from content disclosed by the invention all should be thought protection scope of the present invention.
Claims (6)
1. bus switch method based on the CAN redundancy is characterized in that may further comprise the steps:
1), judges it is sending node or receiving node; When being sending node, enter step 2); When being receiving node, enter step 5);
2), judge whether sending node sends overtime; When being judged as "Yes", enter step 3), when being judged as "No", then enter step 4);
3), switching bus resends the flow process end;
4), sending node monitors bus until overtime or receive the response frame of receiving node, represent successfully to send data, the flow process end;
5), judge whether receive time-out of receiving node; When being judged as "Yes", enter step 6), when being judged as "No", then enter step 7);
6), switch bus by broadcasting, inform that other nodes switch buses and resend data, flow process finishes;
7), receiving node sends response frame, as the response to sending node, the expression data send also and receive successfully, the flow process end.
2. a kind of bus switch method based on the CAN redundancy according to claim 1, it is characterized in that: judge whether sending node sends overtime standard and be described step 2): whether the transmitting time of sending node surpasses the longest transmitting time that the user sets, and surpasses this value and thinks that this secondary data sends unsuccessfully.
3. a kind of bus switch method based on the CAN redundancy according to claim 1, it is characterized in that: judge whether receiving node sends overtime standard and be described step 5): whether the reception mistake of receiving node exceeds the threshold value of setting, and this threshold value is that the user-defined maximum that can stand receives errors number.
4. according to claim 1,2 or 3 described a kind of bus switch methods based on the CAN redundancy, it is characterized in that: synchronization can only have bus to send data; Use the software buffering area to send the Buffer Pool of data as the user, use the transmission of three hardware buffer district expedited data frames of development board; Restart controller or switch bus and resend or continue receiving data frames when threshold value and timeout mechanism being set being used for communication and breaking down; With node indicator light prompting user bus failure, need in time to recover bus.
5. a kind of bus switch method based on the CAN redundancy according to claim 4 is characterized in that: described step 3) be specially and carry out successively following steps:
A), restart controller resends: as send successfully, then enter step B); Unsuccessful as still sending, so that transmission is overtime, then enter step C);
B), monitor to wait for the response frame on the network, represent that when receiving the response frame of receiving node this secondary data transmits successfully, the flow process end;
C), judge whether all the other buses available, have at least one bus to use such as all the other buses, then adopt this bus to resend; If all the other buses all can not be used, then prompting user waits for that the user recovers, and flow process finishes.
6. a kind of bus switch method based on the CAN redundancy according to claim 5 is characterized in that: described step 6) be specially and carry out successively following steps:
Judge whether all the other buses are available, have at least one bus to use such as all the other buses, then broadcasting is switched bus, is restarted former controller, represents that this node does not receive the valid data frame in this bus; If another bus is unavailable, then restart former controller, flow process finishes.
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| CN102611695A (en) * | 2012-01-18 | 2012-07-25 | 武汉光庭科技有限公司 | Method for designing general-type SAE J1939 protocol stack |
| CN106292385A (en) * | 2015-05-13 | 2017-01-04 | 北京电子工程总体研究所 | The hot redundancy control system of a kind of dual CAN bus and method |
| CN105323133A (en) * | 2015-11-12 | 2016-02-10 | 浙江大学 | CAN bus redundant communication method and system |
| CN105589826B (en) * | 2016-02-01 | 2019-08-16 | 国网福建省电力有限公司 | Power distribution network multi-level bus information interacting method based on plug and play |
| CN107426072A (en) * | 2017-06-29 | 2017-12-01 | 北京电子工程总体研究所 | A kind of CAN redundancy retransmits the fault-tolerant means of communication |
| CN114968890A (en) * | 2022-05-27 | 2022-08-30 | 中国第一汽车股份有限公司 | Synchronous communication control method, device, system and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5784547A (en) * | 1995-03-16 | 1998-07-21 | Abb Patent Gmbh | Method for fault-tolerant communication under strictly real-time conditions |
| CN200990401Y (en) * | 2006-05-12 | 2007-12-12 | 上海神力科技有限公司 | Double-machine redundancy control system based on CAN bus |
| CN101282301A (en) * | 2008-05-12 | 2008-10-08 | 北京邮电大学 | Double-redundancy CAN bus controller as well as packet processing method thereof |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5784547A (en) * | 1995-03-16 | 1998-07-21 | Abb Patent Gmbh | Method for fault-tolerant communication under strictly real-time conditions |
| CN200990401Y (en) * | 2006-05-12 | 2007-12-12 | 上海神力科技有限公司 | Double-machine redundancy control system based on CAN bus |
| CN101282301A (en) * | 2008-05-12 | 2008-10-08 | 北京邮电大学 | Double-redundancy CAN bus controller as well as packet processing method thereof |
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