CN112272132A - DDS protocol real-time transmission method and system for realizing CAN data based on FPGA - Google Patents
DDS protocol real-time transmission method and system for realizing CAN data based on FPGA Download PDFInfo
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- CN112272132A CN112272132A CN202011535202.8A CN202011535202A CN112272132A CN 112272132 A CN112272132 A CN 112272132A CN 202011535202 A CN202011535202 A CN 202011535202A CN 112272132 A CN112272132 A CN 112272132A
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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
- H04L12/40006—Architecture of a communication node
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
- H04L69/26—Special purpose or proprietary protocols or architectures
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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
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
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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
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40234—Local Interconnect Network LIN
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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
- H04L2012/40267—Bus for use in transportation systems
- H04L2012/40273—Bus for use in transportation systems the transportation system being a vehicle
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Abstract
The invention discloses a DDS protocol real-time transmission method and a system for realizing CAN data based on FPGA, comprising a domain controller and a central controller, wherein the domain controller comprises an FPGA module and a microprocessor unit; the microprocessor unit generates a mapping rule and sends the mapping rule to the FPGA module; the data collected by the sensor is sent to the domain controller through the CAN bus, and the FPGA module packages the CAN data into the DDS data according to the mapping rule; the DDS data is processed and fed back and sent back to the domain controller through the DDS protocol Ethernet; and the FPGA module de-encapsulates the fed-back DDS data into CAN data according to the mapping rule and sends the CAN data to the actuator through the CAN bus. The invention utilizes the MPU to realize the complex processing of the protocol, utilizes the real-time property of the FPGA to process the DDS conversion of the fixed logic, and ensures the real-time property of the vehicle-mounted Ethernet communication. The invention is suitable for the vehicle-mounted network with the coexistence of CAN/LIN/Ethernet communication modes, and realizes the Ethernet transmission of CAN/LIN low-speed bus data based on DDS protocol through data conversion.
Description
Technical Field
The invention belongs to the technical field of automatic driving, and particularly relates to a DDS protocol real-time transmission method and system for realizing CAN data based on an FPGA.
Background
With the rapid development of the automatic driving technology, in order to enable the automatic driving automobile to sense the surrounding environment faster and better, two fields of multi-sensor fusion and vehicle-mounted network communication are necessarily involved. The two fields also put higher requirements on buses of vehicle-mounted communication, such as large bandwidth, real-time performance, stability, distribution and the like. The method is particularly remarkable for the requirements of real-time performance on the vehicle-mounted network communication and the vital function safety.
From the evolution route of the vehicle-mounted EE architecture, vehicle-mounted ethernet transmission has been a big trend. Meanwhile, a Data Distribution Service (DDS) is used as a Data-centric distributed Real-Time communication middleware, so that the Data is guaranteed to be distributed efficiently and flexibly in Real Time, and the DDS is very suitable for a next-generation vehicle-mounted EE framework.
At present, most methods for converting CAN data into DDS transmission are based on simple message packaging structures, and then a processor is responsible for data communication of the DDS. The end-to-end delay and jitter of the scheme are uncertain, and the requirement of a vehicle-mounted network on the real-time performance cannot be met. At present, a TSN solution based on a vehicle-mounted Ethernet is not mature, and the automobile Ethernet based on the DDS protocol cannot guarantee the requirements of low time delay and jitter, so that a design method for realizing real-time transmission of CAN data through the DDS protocol based on an FPGA platform is very important.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the problems, the invention provides a DDS protocol real-time transmission method and a system for realizing CAN data based on FPGA, which finish the real-time transmission of the CAN data through the DDS protocol by extremely low time delay and jitter.
The technical scheme is as follows: in order to realize the purpose of the invention, the technical scheme adopted by the invention is as follows: a DDS protocol real-time transmission method for realizing CAN data based on FPGA comprises the following steps:
(1) the sensor collects data, the CAN data are sent to the domain controller through the CAN bus, and the FPGA module of the domain controller encapsulates the CAN data into DDS data according to a certain mapping rule;
(2) sending DDS data to a DDS subscription node on the central controller through a DDS protocol Ethernet, wherein the DDS subscription node processes the fed-back DDS data and sends the DDS data back to the domain controller through the DDS protocol Ethernet;
(3) and the FPGA module of the domain controller decapsulates the fed-back DDS data into CAN data according to a certain mapping rule and transmits the CAN data to the actuator through a CAN bus.
Furthermore, the domain controller comprises an FPGA module and a microprocessor unit, and the mapping rule is generated by the microprocessor unit and is issued to the FPGA module.
Further, the generation of the mapping rule comprises the steps of:
(1.1) deploying a DDS publish and subscribe APP on a microprocessor unit; running a DDS discovery protocol to generate a mapping relation between the subject name of the data object subscribed by the user and the global unique identifier;
(1.2) generating a CAN data frame format according to a sensor and an actuator connected to a CAN bus;
and (1.3) fusing the CAN data frame format and the mapping relation between the subject name and the global unique identifier to generate a mapping rule table of the CANID and the GUID.
Furthermore, a CAN data transceiving processing module, a DDS packaging and decapsulating module and an Ethernet transceiving processing module are deployed on the FPGA module.
Further, the specific processing flow of the FPGA module includes:
(2.1) after receiving the CAN data, the CAN data receiving and transmitting processing module of the FPGA module forwards the CAN data to the DDS packaging and de-packaging module, packaging the CAN data into DDS data according to a mapping rule table, transmitting the DDS data to the Ethernet receiving and transmitting processing module, and transmitting the DDS data through the Ethernet by using a DDS protocol;
(2.2) the Ethernet receiving and transmitting processing module of the FPGA module receives the DDS data sent by the Ethernet through the DDS protocol, forwards the DDS data to the DDS packaging and de-packaging module, de-packages the DDS data into CAN data according to the mapping rule table, transmits the CAN data to the CAN data receiving and transmitting processing module, and sends the CAN data through the CAN bus.
A DDS protocol real-time transmission system for realizing CAN data based on FPGA comprises a domain controller, a central controller, a sensor, an actuator, a CAN bus and an Ethernet; the domain controller comprises an FPGA module and a microprocessor unit; the microprocessor unit generates a mapping rule and sends the mapping rule to the FPGA module;
the sensor collects data and sends the data to the domain controller through the CAN bus, and the FPGA module packages the CAN data into the DDS data according to the mapping rule; the DDS data is processed and fed back by the DDS subscription node and is sent back to the domain controller by the DDS protocol Ethernet; and the FPGA module decapsulates the fed-back DDS data into CAN data according to the mapping rule and sends the CAN data to the actuator through the CAN bus.
Furthermore, a CAN data transceiving processing module, a DDS packaging and de-packaging module and an Ethernet transceiving processing module are deployed on the FPGA module;
the CAN data receiving and transmitting processing module receives CAN data and forwards the CAN data to the DDS packaging and decapsulating module, the CAN data is packaged into DDS data according to the mapping rule table and transmitted to the Ethernet receiving and transmitting processing module to be transmitted through the Ethernet by the DDS protocol;
the Ethernet receiving and transmitting processing module receives DDS data sent by Ethernet through DDS protocol, forwards the DDS data to the DDS encapsulation and decapsulation module, decapsulates the DDS data into CAN data according to the mapping rule table, and transmits the CAN data to the CAN data receiving and transmitting processing module to send the CAN data through a CAN bus.
Has the advantages that: the invention is suitable for the vehicle-mounted network with CAN/LIN/Ethernet and other communication modes, and realizes the transmission of CAN/LIN and other low-speed bus data through Ethernet based on a data distribution service DDS protocol through data conversion.
The invention realizes the complex processing of the protocol by utilizing the programming flexibility of the MPU, processes the DDS conversion of the fixed logic by utilizing the hardware real-time property of the FPGA, and ensures the real-time property requirement of the vehicle-mounted Ethernet communication.
Drawings
FIG. 1 is a schematic diagram of a network topology of a domain controller and a central controller;
FIG. 2 is a schematic diagram of FPGA real-time transmission;
fig. 3 is a schematic diagram of CAN and DDS data conversion rules.
Detailed Description
The technical solution of the present invention is further described below with reference to the accompanying drawings and examples.
As shown in fig. 1, the entire vehicle topology architecture includes a Domain controller (Domain controller) and a Central controller (Central controller), and the DDS protocol real-time transmission method for implementing CAN data based on the FPGA includes the steps of:
the method comprises the following steps that a Sensor (Sensor) collects data, CAN data are sent to a domain controller through a CAN bus, and then the CAN data are packaged into DDS data through an FPGA module of the domain controller according to a certain mapping rule; and then the DDS data is sent to the central controller through an Ethernet under DDS protocol, and DDS subscription nodes on the central controller receive the DDS data.
The DDS subscription node processes the received DDS data, gives the fed-back DDS data and sends the fed-back DDS data back to the domain controller through an Ethernet by a DDS protocol, an FPGA module of the domain controller de-encapsulates the DDS data into CAN data according to a certain mapping rule, and then sends the CAN data to an Actuator (Actuator) through a CAN bus.
As shown in FIG. 2, the domain controller includes a Field Programmable Gate Array (FPGA) (field Programmable Gate arrays) and a microprocessor unit (MPU) (microprocessor unit).
As shown in fig. 3, the mapping rule from CAN data encapsulation to DDS data is generated by the microprocessor unit MPU, which specifically includes the steps of:
(1) deploying DDS publishing and subscribing APP on a microprocessor unit (MPU); running a DDS discovery protocol, and generating a mapping relation between a subject name (TopicName) and a GUID (globally unique identifier) of a data object subscribed by a user;
(2) generating a CAN data frame format according to a sensor and an actuator which are actually connected to a CAN bus;
(3) and fusing the CAN data frame format and the mapping relation between the topic name (TopicName) and the global unique identifier (Guid), generating a mapping Rule table (Rule) of the CANID and the GUID, and configuring and issuing the Rule table to the FPGA.
The rules contain the mapping of the CANID to the GUID, and the GUID to the DDS data transmission path. Specifically, the method comprises conversion mapping from CAN to DDS, conversion mapping from DDS to CAN, and sending DDS data to the outlet positioning information of a destination terminal.
As shown in fig. 2, the encapsulation and decapsulation of the CAN data to the DDS data is processed by the FPGA, so that the data is collected by connecting the CAN bus to the sensor, the data link is established based on the DDS discovery protocol to transmit the data, the CAN data is transmitted to the subscription node in real time through the DDS protocol, and the data is transmitted in real time through the ethernet with extremely low delay and jitter.
A CAN data transceiving processing module, a DDS packaging and de-packaging module and an Ethernet transceiving processing module are deployed on the FPGA.
Specifically, a Sensor (Sensor) collects data, CAN data are sent to a CAN data receiving and sending processing module of an FPGA module through a CAN bus, the CAN data receiving and sending processing module receives the CAN data and forwards the CAN data to a DDS packaging and unpacking module, the CAN data are packaged into DDS data according to a mapping Rule table (Rule), then the DDS data are transmitted to an Ethernet receiving and sending processing module, and the DDS data are sent to a DDS subscription node on a central controller through an Ethernet of a DDS protocol.
The DDS subscription node processes the received DDS data, gives the fed-back DDS data and sends the fed-back DDS data back to an Ethernet receiving and sending processing module of the FPGA module through an Ethernet of a DDS protocol, the Ethernet receiving and sending processing module receives the DDS data and forwards the DDS data to a DDS packaging and unpacking module, the DDS data is unpacked into CAN data according to a mapping Rule table (Rule), the CAN data is transmitted to a CAN data receiving and sending processing module, and the CAN data is sent to an Actuator (Actuator) through a CAN bus.
The DDS protocol real-time transmission system for realizing CAN data based on the FPGA comprises a domain controller, a central controller, a sensor, an actuator, a CAN bus and an Ethernet; the domain controller comprises an FPGA module and a microprocessor unit; the microprocessor unit generates the mapping rule and sends the mapping rule to the FPGA module.
The sensor collects data and sends the data to the domain controller through the CAN bus, and the FPGA module packages the CAN data into the DDS data according to the mapping rule; the DDS data is processed and fed back by the DDS subscription node and is sent back to the domain controller by the DDS protocol Ethernet; and the FPGA module decapsulates the fed-back DDS data into CAN data according to the mapping rule and sends the CAN data to the actuator through the CAN bus.
The FPGA module is provided with a CAN data receiving and transmitting processing module, a DDS packaging and de-packaging module and an Ethernet receiving and transmitting processing module.
The CAN data receiving and transmitting processing module receives CAN data and forwards the CAN data to the DDS packaging and decapsulating module, the CAN data is packaged into DDS data according to the mapping rule table and transmitted to the Ethernet receiving and transmitting processing module to be transmitted through the Ethernet by the DDS protocol.
The Ethernet receiving and transmitting processing module receives DDS data sent by Ethernet through DDS protocol, forwards the DDS data to the DDS encapsulation and decapsulation module, decapsulates the DDS data into CAN data according to the mapping rule table, and transmits the CAN data to the CAN data receiving and transmitting processing module to send the CAN data through a CAN bus.
According to the invention, the time delay of vehicle-mounted Ethernet data transmission is strictly controlled by the FPGA, so that the real-time property of DDS data transmission is further improved, and the functional safety of an automatic driving emergency scene is ensured.
Claims (7)
1. A DDS protocol real-time transmission method for realizing CAN data based on FPGA is characterized by comprising the following steps:
(1) the sensor collects data, the CAN data are sent to the domain controller through the CAN bus, and the FPGA module of the domain controller encapsulates the CAN data into DDS data according to a certain mapping rule;
(2) sending DDS data to a DDS subscription node on the central controller through a DDS protocol Ethernet, wherein the DDS subscription node processes the fed-back DDS data and sends the DDS data back to the domain controller through the DDS protocol Ethernet;
(3) and the FPGA module of the domain controller decapsulates the fed-back DDS data into CAN data according to a certain mapping rule and transmits the CAN data to the actuator through a CAN bus.
2. The DDS protocol real-time transmission method for CAN data based on FPGA of claim 1, wherein the domain controller comprises an FPGA module and a microprocessor unit, and the mapping rule is generated by the microprocessor unit and issued to the FPGA module.
3. The DDS protocol real-time transmission method for realizing CAN data based on FPGA of claim 2, wherein the generation of the mapping rule comprises the steps of:
(1.1) deploying a DDS publish and subscribe APP on a microprocessor unit; running a DDS discovery protocol to generate a mapping relation between the subject name of the data object subscribed by the user and the global unique identifier;
(1.2) generating a CAN data frame format according to a sensor and an actuator connected to a CAN bus;
and (1.3) fusing the CAN data frame format and the mapping relation between the subject name and the global unique identifier to generate a mapping rule table of the CANID and the GUID.
4. The DDS protocol real-time transmission method for CAN data based on FPGA of claim 1, wherein the FPGA module is disposed with a CAN data transceiving processing module, a DDS encapsulation and decapsulation module and an Ethernet transceiving processing module.
5. The DDS protocol real-time transmission method for realizing CAN data based on FPGA according to claim 4, wherein the specific processing flow of the FPGA module comprises:
(2.1) after receiving the CAN data, the CAN data receiving and transmitting processing module of the FPGA module forwards the CAN data to the DDS packaging and de-packaging module, packaging the CAN data into DDS data according to a mapping rule table, transmitting the DDS data to the Ethernet receiving and transmitting processing module, and transmitting the DDS data through the Ethernet by using a DDS protocol;
(2.2) the Ethernet receiving and transmitting processing module of the FPGA module receives the DDS data sent by the Ethernet through the DDS protocol, forwards the DDS data to the DDS packaging and de-packaging module, de-packages the DDS data into CAN data according to the mapping rule table, transmits the CAN data to the CAN data receiving and transmitting processing module, and sends the CAN data through the CAN bus.
6. A DDS protocol real-time transmission system for realizing CAN data based on FPGA is characterized by comprising a domain controller, a central controller, a sensor, an actuator, a CAN bus and an Ethernet; the domain controller comprises an FPGA module and a microprocessor unit; the microprocessor unit generates a mapping rule and sends the mapping rule to the FPGA module;
the sensor collects data and sends the data to the domain controller through the CAN bus, and the FPGA module packages the CAN data into the DDS data according to the mapping rule; the DDS data is processed and fed back by the DDS subscription node and is sent back to the domain controller by the DDS protocol Ethernet; and the FPGA module decapsulates the fed-back DDS data into CAN data according to the mapping rule and sends the CAN data to the actuator through the CAN bus.
7. The system for DDS protocol real-time transmission of CAN data based on FPGA of claim 6, wherein, the FPGA module is disposed with a CAN data transmit-receive processing module, a DDS encapsulation and de-encapsulation module and an Ethernet transmit-receive processing module;
the CAN data receiving and transmitting processing module receives CAN data and forwards the CAN data to the DDS packaging and decapsulating module, the CAN data is packaged into DDS data according to the mapping rule table and transmitted to the Ethernet receiving and transmitting processing module to be transmitted through the Ethernet by the DDS protocol;
the Ethernet receiving and transmitting processing module receives DDS data sent by Ethernet through DDS protocol, forwards the DDS data to the DDS encapsulation and decapsulation module, decapsulates the DDS data into CAN data according to the mapping rule table, and transmits the CAN data to the CAN data receiving and transmitting processing module to send the CAN data through a CAN bus.
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| CN115277886A (en) * | 2022-07-30 | 2022-11-01 | 重庆长安汽车股份有限公司 | Vehicle data acquisition method based on data distribution service |
| CN115412478B (en) * | 2022-08-30 | 2023-06-02 | 奥特酷智能科技(南京)有限公司 | Service-oriented automobile domain controller data forwarding system and method |
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