CN105406982A - CAN bus double redundancy heat backup method - Google Patents
CAN bus double redundancy heat backup method Download PDFInfo
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- CN105406982A CN105406982A CN201510684994.8A CN201510684994A CN105406982A CN 105406982 A CN105406982 A CN 105406982A CN 201510684994 A CN201510684994 A CN 201510684994A CN 105406982 A CN105406982 A CN 105406982A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
- H04L41/06—Management of faults, events, alarms or notifications
- H04L41/0654—Management of faults, events, alarms or notifications using network fault recovery
- H04L41/0668—Management of faults, events, alarms or notifications using network fault recovery by dynamic selection of recovery network elements, e.g. replacement by the most appropriate element after failure
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- 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
- H04L12/40169—Flexible bus arrangements
- H04L12/40176—Flexible bus arrangements involving redundancy
- H04L12/40189—Flexible bus arrangements involving redundancy by using a plurality of bus systems
-
- 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
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
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- Computer Networks & Wireless Communication (AREA)
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- Data Exchanges In Wide-Area Networks (AREA)
Abstract
The invention discloses a CAN bus double redundancy heat backup method. The CAN bus double redundancy heat backup method comprises steps that, an arbitration domain and a data domain of a standard frame in a CAN protocol are customized by a user; the arbitration domain is defined to be five information types, and the five information types comprise an information type identification, a sending party node identification, a reception party node identification, a bus identification and a frame identification; interaction information content corresponding to each information type is defined, and main and secondary nodes are determined; information interaction fault types are defined, each information type is detected on the basis of the fault types, if the fault types occur during detection, double redundancy heat backup of a CAN bus is accomplished. Through the method, rapid smaller-than-100ms-bus heat switching can be realized, task reliability of the whole system is improved, moreover, only a backup CAN bus controller, a bus driver and an optical coupler are added to a hardware circuit, the circuit is simple, and extra cost is relatively low.
Description
Technical field
The present invention relates to digital communication field, particularly relate to a kind of two redundancy backup implementation method for communication between the multiple node of military on-vehicle information control system CAN and CAN interface.
Background technology
Certain military vehicle is the important component part of certain armament systems, establishes the management information system that has synthesization, intellectuality, modularization, networking.In the system of this Highgrade integration, each vehicle-mounted subsystem carries out the mutual of information by this integrated platform.Information-based high development is had higher requirement to communication network, and not only system needs to have high transmission speed, and will possess very high communication reliability.
CAN is exchanges data in order to solve between control numerous in automobile and measuring equipment and a kind of serial data communications busses developed, and belongs to the category of fieldbus, effectively can support dcs or control in real time.It by simple agreement, can realize the transmitting of the remote real time data under electromagnetic interference environment.Because CAN has, transmission speed is fast, long transmission distance, reliability are high, antijamming capability is strong, are therefore more applied in vehicle communication network.But CAN belongs to unified bus, itself can not provide data redundancy support.Its specification data link layer and physical layer, can only solve these problems by the upper-layer protocol developing CAN.
The stability that management information system is run be related to whole vehicle so that armament systems whether working properly, and its communication network reliability of operation one of key factor just.In order to improve reliability, usually take the mode of equipment fully redundance.Although this method reliability is very high, the cost of operation and maintenance is also relatively high.
Therefore, design one more reasonably high reliability CAN communication network is needed, to meet present communication network to the high-quality demand of communication.
Summary of the invention
The technical problem to be solved in the present invention is to provide two redundancy backup implementation methods of the multinode CAN communication under a kind of military on-vehicle information control system background, make up the limitation that CAN is supported without data redundancy, promote the reliability and stability of whole management information system.
For solving the problems of the technologies described above, the present invention adopts following technical proposals:
A kind of two redundancy backup method, the step of the method comprises
The arbitration territory of CAN protocol Plays frame is defined as five kinds of information types, and described five kinds of information types comprise information type mark, transmit leg node identification, recipient's node identification, bus ID and frame identification;
Define the interactive information content that often kind of information type is corresponding, determine host node and from node;
Definition information interaction fault type, and based on this fault type, often kind of information type is detected, if there is this fault type, switch bus, complete two redundancy backups of CAN.
Preferably, described fault type comprises that host node sends mistake, host node do not receive the data invalid received from data and the host node of node in Preset Time.
Preferably, the method comprises the length of the every frame data bag detecting current C AN bus transfer further, selects single frames form or e1 multiframe format E1 sending/receiving according to the length of every frame data bag.
Preferably, when described data packet length is less than 8 byte, adopt single frames pattern; When described data packet length is greater than 8 byte, wiping e1 multiframe format E1.
Beneficial effect of the present invention is as follows:
The bus Rapid Thermal that technical scheme of the present invention can realize being less than 100ms switches, and promotes the mission reliability of whole system.Meanwhile, hardware circuit merely add the CAN controller of backup, bus driver and optocoupler, circuit is simple and extra cost is lower.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in further detail;
Fig. 1 illustrates the schematic diagram of a kind of pair of redundancy backup method of the present invention;
Fig. 2 illustrates the schematic diagram of CAN interface of the present invention;
Fig. 3 illustrates the transmit leg flow chart of the bus switch of the first kind described in the embodiment of the present invention;
Fig. 4 illustrates recipient's flow chart of the bus switch of the first kind described in the embodiment of the present invention;
Fig. 5 illustrates the transmit leg flow chart of the bus switch of Second Type described in the embodiment of the present invention;
Fig. 6 illustrates recipient's flow chart of the bus switch of Second Type described in the embodiment of the present invention;
Fig. 7 illustrates the transmit leg flow chart of the bus switch of the 3rd type and the 4th type described in the embodiment of the present invention;
Fig. 8 illustrates recipient's flow chart of the bus switch of the 3rd type described in the embodiment of the present invention;
Fig. 9 illustrates recipient's flow chart of the bus switch of the 4th type described in the embodiment of the present invention;
Figure 10 illustrates the transmit leg flow chart of the bus switch of the 5th type described in the embodiment of the present invention;
Figure 11 illustrates recipient's flow chart of the bus switch of the 5th type described in the embodiment of the present invention.
Embodiment
In order to be illustrated more clearly in the present invention, below in conjunction with preferred embodiments and drawings, the present invention is described further.Parts similar in accompanying drawing represent with identical Reference numeral.It will be appreciated by those skilled in the art that specifically described content is illustrative and nonrestrictive, should not limit the scope of the invention with this below.
The invention discloses a kind of two redundancy backup method, the method concrete steps are as follows:
As shown in Figure 1, first, the arbitration territory of CAN protocol Plays frame is defined as five kinds of information types by user, and described five kinds of information types comprise information type mark, transmit leg node identification, recipient's node identification, bus ID and frame identification; Secondly, define the interactive information content that often kind of information type is corresponding, determine host node and from node, using host node as the transmit leg of information interaction, initiate information interaction; Finally, definition information interaction fault type, and based on this fault type, often kind of information type is detected, if there is this fault type, switch bus, complete two redundancy backups of CAN.Wherein, described fault type comprises that host node sends mistake, host node do not receive the data invalid received from data and the host node of node in Preset Time.Due in output transmitting procedure, need the transmission according to the length concept transfer of every frame data bag and receive mode, therefore, the method comprises the length of the every frame data bag detecting current C AN bus transfer further, selects single frames form or e1 multiframe format E1 sending/receiving according to the length of every frame data bag.Wherein, when described data packet length is less than 8 byte, adopt single frames pattern; When described data packet length is greater than 8 byte, wiping e1 multiframe format E1.
As shown in Figure 2, the schematic diagram of the CAN interface of the present invention's application, this interface comprises external apparatus interface, the first bus interface and the second bus interface; The first bus control unit and the first bus driver is provided with successively between described external apparatus interface and the first bus interface; The second bus control unit and the second bus driver is provided with between described external apparatus interface and the second bus interface.Isolate respectively by high speed photo coupling between described first bus control unit and the first bus driver and between described second bus control unit and the second bus driver.Described high speed photo coupling two ends adopt isolated DC Power supply respectively.
Technical scheme of the present invention defines 5 category information types from information transmission aspect, covers all information interaction approach, is " question-response "; Thus can ensure that the communication of CAN is initiated by host node, be do not allow initiatively to send data from node.Fault verification and the redundancy soft handover of whole CAN are controlled by host node.
Three kinds of situations are mainly divided according to CAN fault:
A) dataframe mistake;
B) acknowledgement frame is not received at the appointed time;
C) acknowledgement frame received is invalid.
For above-mentioned three kinds of faults, host node takes different detection modes; Once fault be detected, then carry out bus switch, host node resends Frame by an other bus, thus realizes two redundancy backups of CAN.
Below by one group of embodiment, the present invention will be further described:
This example uses the standard frame in CAN2.0B agreement, and in standard frame, the definition of each bit field is as shown in table 1.11 (ID28 ~ 18) in arbitration territory are defined as 5 parts: information type mark (ID28 ~ 26), transmit leg node identification (ID25 ~ 23), recipient's node identification (ID22 ~ 20), bus ID (ID19), frame identification (ID18).
Table 1 standard frame format
Wherein, the definition of 5 kinds of information types is as shown in table 2.According to regulation as shown in table 2, class definition is carried out to the interactive information content in CAN, determines host node and from node.Host node, as the transmit leg of information interaction, initiates information interaction.
Table 2 information type implication
Because the every frame data of CAN can only send at most 8 bytes, therefore:
A) when the data packet length transmitted is less than 8 byte, adopt single frames form (data field general format is as shown in table 3), first character joint in data field is for message identification (command code or answer back code), and rear 7 bytes are data (countless according to time all fill in 0);
B) when the data packet length transmitted is greater than 8 byte, e1 multiframe format E1 (Frame general format is if table 3 is to table 6 Suo Shi) is adopted;
Table 3 frame data territory form
Table 4 multiframe data field form (first frame)
Table 5 multiframe data field form (intermediate frame)
Table 6 multiframe data frame format (tail frame)
Process according to the regulation such as shown in table 3 to table 6 according to actual content length: be less than 8 bytes and then send according to single frames form and receive; Send according to e1 multiframe format E1 framing when sending more than 8 bytes, during reception, carry out framing and verification according to e1 multiframe format E1.
Define 3 kinds of fault modes of information interaction:
A) host node sends mistake;
B) host node does not receive the data from node within the stipulated time (100ms);
C) data invalid that receives of host node.
Once above-mentioned 3 kinds of faults be detected, then carry out bus switch, host node re-starts information interaction by an other bus, thus realizes two redundancy backups of CAN.
As shown in Figure 3 and Figure 4, be the first kind, namely information type mark transmit leg and recipient's information interaction flow process.
Host node sends " command code ", starts wait-receiving mode " answer back code and reply data " if send successfully, otherwise switches to another bus and restart information interaction.Receive in 100ms " answer back code and reply data ", then can carry out data check to " answer back code and reply data "; Otherwise be considered as wait timeout, switch to another bus and restart information interaction.After " answer back code and reply data " verification is correct, this information interaction terminates, otherwise switches to another bus and restart information interaction.In primary information reciprocal process, only allow switching bus.
Receive " command code " at two bus wait from node simultaneously, after any bus receives " command code ", data check is carried out to " command code ".Data check is correct, then after performing corresponding operation, from the bus loopback " answer back code and reply data " receiving " command code "; Data check mistake, then reenter wait-receiving mode state.
As shown in Figure 5 and Figure 6, be Second Type, i.e. the transmit leg of transmit leg node identification and recipient's information interaction flow process.
Host node sends " command code ", starts wait-receiving mode " answer back code " if send successfully, otherwise switches to another bus and restart information interaction.Receive in 100ms " answer back code ", then can carry out data check to " answer back code "; Otherwise be considered as wait timeout, switch to another bus and restart information interaction.After " answer back code " verification is correct, this information interaction terminates, otherwise switches to another bus and restart information interaction.In primary information reciprocal process, only allow switching bus.
Receive " command code " at two bus wait from node simultaneously, after any bus receives " command code ", data check is carried out to " command code ".Data check is correct, then, after the bus loopback " answer back code " receiving " command code ", perform and operate accordingly; Data check mistake, then reenter wait-receiving mode state.
As shown in Figure 7 and Figure 8, be the 3rd type, i.e. the transmit leg of recipient's node identification and recipient's information interaction flow process.
Host node sends " command code and parameter ", starts wait-receiving mode " answer back code and reply data " if send successfully, otherwise switches to another bus and restart information interaction.Receive in 100ms " answer back code and reply data ", then can carry out data check to " answer back code and reply data "; Otherwise be considered as wait timeout, switch to another bus and restart information interaction.After " answer back code and reply data " verification is correct, this information interaction terminates, otherwise switches to another bus and restart information interaction.In primary information reciprocal process, only allow switching bus.
Receive " command code and parameter " at two bus wait from node simultaneously, after any bus receives " command code and parameter ", data check is carried out to " command code and parameter ".Data check is correct, then after performing corresponding operation, from the bus loopback " answer back code and reply data " receiving " command code and parameter "; Data check mistake, then reenter wait-receiving mode state.
As shown in figures 7 and 9, be the 4th type, i.e. the transmit leg of bus ID and recipient's information interaction flow process.
The flow process of host node is consistent with type 3.Receive " command code and parameter " at two bus wait from node simultaneously, after any bus receives " command code and parameter ", data check is carried out to " command code and parameter ".Data check is correct, then, after the bus loopback " answer back code and reply data " receiving " command code and parameter ", perform and operate accordingly; Data check mistake, then reenter wait-receiving mode state.
As shown in Figure 10 and Figure 11, be the 5th type, i.e. the transmit leg of frame identification and recipient's information interaction flow process.
Host node sends " command code and data ", starts wait-receiving mode " answer back code and reply data " if send successfully, otherwise switches to another bus and restart information interaction.Receive in 100ms " answer back code and reply data ", then can carry out data check to " answer back code and reply data "; Otherwise be considered as wait timeout, switch to another bus and restart information interaction.After " answer back code and reply data " verification is correct, this information interaction terminates, otherwise switches to another bus and restart information interaction.In primary information reciprocal process, only allow switching bus.
Receive " command code and data " at two bus wait from node simultaneously, after any bus receives " command code and data ", data check is carried out to " command code and data ".Data check is correct, then from the bus loopback " answer back code and reply data " receiving " command code and data "; Data check mistake, then reenter wait-receiving mode state.
In sum, the bus Rapid Thermal that technical scheme of the present invention can realize being less than 100ms switches, and promotes the mission reliability of whole system.Meanwhile, hardware circuit merely add the CAN controller of backup, bus driver and optocoupler, circuit is simple and extra cost is lower.
Obviously; the above embodiment of the present invention is only for example of the present invention is clearly described; and be not the restriction to embodiments of the present invention; for those of ordinary skill in the field; can also make other changes in different forms on the basis of the above description; here cannot give exhaustive to all execution modes, every belong to technical scheme of the present invention the apparent change of extending out or variation be still in the row of protection scope of the present invention.
Claims (4)
1. a two redundancy backup method, it is characterized in that, the step of the method comprises
The arbitration territory of CAN protocol Plays frame is defined as five kinds of information types by user, and described five kinds of information types comprise information type mark, transmit leg node identification, recipient's node identification, bus ID and frame identification;
Define the interactive information content that often kind of information type is corresponding, determine host node and from node;
Definition information interaction fault type, and based on this fault type, often kind of information type is detected, if there is this fault type, switch bus, complete two redundancy backups of CAN.
2. method according to claim 1, is characterized in that, described fault type comprises host node transmission mistake, host node does not receive the data invalid received from data and the host node of node in Preset Time.
3. method according to claim 1, is characterized in that, the method comprises the length of the every frame data bag detecting current C AN bus transfer further, selects single frames form or e1 multiframe format E1 sending/receiving according to the length of every frame data bag.
4. method according to claim 3, is characterized in that, when described data packet length is less than 8 byte, adopts single frames pattern; When described data packet length is greater than 8 byte, adopt e1 multiframe format E1.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| CN109412695A (en) * | 2018-12-28 | 2019-03-01 | 中国船舶重工集团公司第七〇九研究所 | A kind of optical fiber CAN 2.0B bus route system based on star topology |
| CN110245038A (en) * | 2019-06-21 | 2019-09-17 | 上海航天计算机技术研究所 | Data cross backup and restorer and method |
| CN111193601A (en) * | 2018-11-15 | 2020-05-22 | 宝沃汽车（中国）有限公司 | Configuration method and device of vehicle-mounted audio network and vehicle |
| CN113973025A (en) * | 2021-09-30 | 2022-01-25 | 北京轩宇空间科技有限公司 | CAN bus-based satellite-borne computer communication reliability and fault tolerance design method |
| CN114338358A (en) * | 2021-12-28 | 2022-04-12 | 深圳市英维克信息技术有限公司 | Data interaction method, data interaction equipment, storage medium and PLC |
| CN115118772A (en) * | 2022-06-21 | 2022-09-27 | 壹沓科技(上海)有限公司 | Message communication system and method |
| CN116360389A (en) * | 2023-02-22 | 2023-06-30 | 北京航天发射技术研究所 | Synchronous servo controller fault control system and method for electrically driven special vehicle |
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| CN116360389A (en) * | 2023-02-22 | 2023-06-30 | 北京航天发射技术研究所 | Synchronous servo controller fault control system and method for electrically driven special vehicle |
| CN116360389B (en) * | 2023-02-22 | 2024-04-09 | 北京航天发射技术研究所 | Synchronous servo controller fault control system and method for electrically driven special vehicle |
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Application publication date: 20160316 |