WO2022041000A1 - Can communication-based intra-board communication circuit and apparatus - Google Patents

Abstract

The embodiments of the present application disclose a CAN communication-based intra-board communication circuit and apparatus. The intra-board communication circuit is used for implementing intra-board CAN communication among a first communication node, a second communication node and a third communication node; a receiving end of the first communication node is connected to a receiving end of the second communication node; a first input end of the intra-board communication circuit is connected to a sending end of the first communication node; a second input end of the intra-board communication circuit is connected to a sending end of the second communication node; a third input end of the intra-board communication circuit is connected to a sending end of the third communication node; a first output end of the intra-board communication circuit is connected to the receiving end of the first communication node; and a second output end of the intra-board communication circuit is connected to a receiving end of the third communication node. By implementing the embodiments of the present application, CAN signals among the communication nodes can be isolated, and CAN signal interference among the communication nodes is eliminated, reducing the costs.

Description

基于CAN通信的板内通信电路及装置On-board communication circuit and device based on CAN communication 技术领域technical field

本申请涉及电子电路技术领域，具体涉及一种基于CAN通信的板内通信电路及装置。The present application relates to the technical field of electronic circuits, and in particular to an on-board communication circuit and device based on CAN communication.

背景技术Background technique

目前，通信节点之间的通信一般采用串行通信接口(serial communication interface，SCI)、串行外设接口(serial peripheral interface，SPI)、I2C(inter－integrated circuit，内置集成电路)等总线。At present, the communication between communication nodes generally adopts serial communication interface (SCI), serial peripheral interface (SPI), I2C (inter-integrated circuit, built-in integrated circuit) and other buses.

控制器局域网络(controller area network，CAN)总线是一种多主总线，即每个节点机均可成为主机，且节点机之间也可进行通信。CAN通信因性能卓越、设计独特、可靠性高等优点被广泛应用在汽车、医疗、船舶、航空等领域。与SCI、SPI、I2C等总线相比，CAN总线有其独有的优势。在CAN通信中，每个通信节点都可以包括微控制单元(microcontroller unit,MCU)、CAN控制器和CAN收发器，即每个通信节点均可成为主机，且通信节点之间也可通过总线发送和接收其他通信节点的信号进行自由通信。The controller area network (CAN) bus is a multi-master bus, that is, each node machine can become the master, and the node machines can also communicate. CAN communication is widely used in automotive, medical, marine, aviation and other fields due to its excellent performance, unique design and high reliability. Compared with SCI, SPI, I2C and other buses, CAN bus has its unique advantages. In CAN communication, each communication node can include a microcontroller unit (MCU), a CAN controller and a CAN transceiver, that is, each communication node can become a host, and communication nodes can also be sent through the bus. Freely communicate with signals received from other communication nodes.

因CAN具有实时性强、传输距离较远、抗电磁干扰能力强、成本低等优点，使用CAN通信实现多节点信息交互的产品越来越多，为了避免多路信号交互过程中相互干扰，需在各个节点之间添加隔离芯片对CAN信号进行隔离，然而，上述隔离信号的方式需要修改各个节点连接的原理图、连接电路等，需要耗费大量的人力、物力、财力及时间，增加了硬件成本。Because CAN has the advantages of strong real-time performance, long transmission distance, strong anti-electromagnetic interference ability, and low cost, more and more products use CAN communication to realize multi-node information interaction. In order to avoid mutual interference in the process of multi-channel signal interaction, it is necessary to An isolation chip is added between each node to isolate the CAN signal. However, the above method of isolating the signal needs to modify the schematic diagram and connection circuit of each node connection, which requires a lot of manpower, material resources, financial resources and time, and increases the hardware cost. .

发明内容SUMMARY OF THE INVENTION

本申请实施例提供一种基于CAN通信的板内通信电路及装置，可以实现无收发器下板内或片内的三个通信节点采用不同地电平的CAN通信，且将通信节点之间的CAN信号隔离，消除通信节点之间的CAN信号干扰，降低了硬件成本。The embodiments of the present application provide an on-board communication circuit and device based on CAN communication, which can realize CAN communication with different ground levels for three communication nodes in the lower board or on-chip without a transceiver, and connect the communication nodes between the communication nodes. CAN signal isolation, eliminates CAN signal interference between communication nodes, and reduces hardware costs.

本申请实施例第一方面，提供了一种基于控制器局域网络CAN通信的板内 通信电路，所述板内通信电路用于实现第一通信节点、第二通信节点和第三通信节点之间的板内CAN通信；In a first aspect of the embodiments of the present application, an intra-board communication circuit based on controller area network CAN communication is provided, and the intra-board communication circuit is used to realize the communication between the first communication node, the second communication node and the third communication node. on-board CAN communication;

所述第一通信节点的接地端和所述第二通信节点的接地端连接同一地线，所述第一通信节点的接地端和所述第三通信节点的接地端为不同地电平，所述第二通信节点的接地端和所述第三通信节点的接地端为不同地电平；所述第一通信节点的接收端连接所述第二通信节点的接收端；The ground terminal of the first communication node and the ground terminal of the second communication node are connected to the same ground wire, and the ground terminal of the first communication node and the ground terminal of the third communication node are at different ground levels, so The ground terminal of the second communication node and the ground terminal of the third communication node are at different ground levels; the receiving end of the first communication node is connected to the receiving end of the second communication node;

所述板内通信电路的第一输入端连接所述第一通信节点的发送端，所述板内通信电路的第二输入端连接所述第二通信节点的发送端，所述板内通信电路的第三输入端连接所述第三通信节点的发送端；所述板内通信电路的第一输出端连接所述第一通信节点的接收端，所述板内通信电路的第二输出端连接所述第三通信节点的接收端；The first input end of the in-board communication circuit is connected to the transmitting end of the first communication node, the second input end of the in-board communication circuit is connected to the transmitting end of the second communication node, and the in-board communication circuit is connected to the transmitting end of the second communication node. The third input end of the communication circuit is connected to the sending end of the third communication node; the first output end of the in-board communication circuit is connected to the receiving end of the first communication node, and the second output end of the in-board communication circuit is connected to the receiving end of the first communication node. the receiver of the third communication node;

所述板内通信电路用于在所述第一通信节点的发送端或所述第二通信节点的发送端或所述第三通信节点的发送端为低电平的情况下，实现所述第一通信节点的接收端、所述第二通信节点的接收端和所述第三通信节点的接收端为低电平；The on-board communication circuit is configured to implement the first communication node when the transmission end of the first communication node or the transmission end of the second communication node or the transmission end of the third communication node is at a low level. The receiving end of a communication node, the receiving end of the second communication node and the receiving end of the third communication node are low level;

所述板内通信电路还用于在所述第一通信节点的发送端、所述第二通信节点的发送端和所述第三通信节点的发送端为高电平的情况下，实现所述第一通信节点的接收端、所述第二通信节点的接收端和所述第三通信节点的接收端为高电平；The on-board communication circuit is further configured to implement the above-mentioned when the transmitting end of the first communication node, the transmitting end of the second communication node and the transmitting end of the third communication node are at a high level. The receiving end of the first communication node, the receiving end of the second communication node and the receiving end of the third communication node are at a high level;

所述板内通信电路还用于隔离所述第一通信节点发送的CAN信号与所述第三通信节点发送的CAN信号，所述板内通信电路还用于隔离所述第二通信节点发送的CAN信号与所述第三通信节点发送的CAN信号。The in-board communication circuit is also used for isolating the CAN signal sent by the first communication node and the CAN signal sent by the third communication node, and the in-board communication circuit is also used for isolating the CAN signal sent by the second communication node. The CAN signal and the CAN signal sent by the third communication node.

其中，所述板内通信电路包括第一逻辑与门、第二逻辑与门、第三逻辑与门和隔离电路；Wherein, the in-board communication circuit includes a first logical AND gate, a second logical AND gate, a third logical AND gate and an isolation circuit;

所述第一通信节点的发送端连接所述第二逻辑与门的第一输入端，所述第一通信节点的接收端连接所述第一逻辑与门的输出端，所述第二通信节点的发送端连接所述第二逻辑与门的第二输入端，所述第一逻辑与门的第一输入端连接所述隔离电路的第二输入端和所述第二逻辑与门的输出端，所述第一逻辑与门的第二输入端连接所述隔离电路的第一输出端，所述隔离电路的第一输入端 连接所述第三逻辑与门的第一输入端和所述第三通信节点的发送端，所述隔离电路的第二输出端连接所述第三逻辑与门的第二输入端。The sending end of the first communication node is connected to the first input end of the second logical AND gate, the receiving end of the first communication node is connected to the output end of the first logical AND gate, and the second communication node The sending end of the second logic AND gate is connected to the second input end of the second logic AND gate, and the first input end of the first logic AND gate is connected to the second input end of the isolation circuit and the output end of the second logic AND gate , the second input terminal of the first logical AND gate is connected to the first output terminal of the isolation circuit, and the first input terminal of the isolation circuit is connected to the first input terminal of the third logical AND gate and the first output terminal of the isolation circuit. The transmitting end of the three communication nodes, the second output end of the isolation circuit is connected to the second input end of the third logical AND gate.

其中，在所述第一通信节点的发送端或第二通信节点的发送端为低电平的情况下，所述第二逻辑与门的输出端为低电平，所述第一逻辑与门的输出端为低电平，使得第一通信节点的接收端和所述第二通信节点的接收端为低电平；所述隔离电路将所述隔离电路的第二输入端的低电平传输至所述隔离电路的第二输出端，所述第三逻辑与门的输出端为低电平，使得第三通信节点的接收端为低电平；Wherein, when the transmitting end of the first communication node or the transmitting end of the second communication node is at a low level, the output end of the second logic AND gate is at a low level, and the first logic AND gate is at a low level. The output terminal of the isolation circuit is low level, so that the receiving terminal of the first communication node and the receiving terminal of the second communication node are low level; the isolation circuit transmits the low level of the second input terminal of the isolation circuit to The second output end of the isolation circuit, the output end of the third logic AND gate is at a low level, so that the receiving end of the third communication node is at a low level;

在所述第三通信节点的发送端为低电平的情况下，所述第三逻辑与门的输出端为低电平，使得第三通信节点的接收端为低电平；所述隔离电路将所述隔离电路的第一输入端的低电平传输至所述隔离电路的第一输出端，所述第一逻辑与门的输出端为低电平，使得第一通信节点的接收端和所述第二通信节点的接收端为低电平。When the transmitting end of the third communication node is at a low level, the output end of the third logic AND gate is at a low level, so that the receiving end of the third communication node is at a low level; the isolation circuit The low level of the first input terminal of the isolation circuit is transmitted to the first output terminal of the isolation circuit, and the output terminal of the first logic AND gate is low level, so that the receiving terminal of the first communication node and all The receiving end of the second communication node is at a low level.

其中，在所述第一通信节点的发送端、所述第二通信节点的发送端和所述第三通信节点的发送端为高电平的情况下，所述第二逻辑与门的输出端为高电平，所述隔离电路将所述隔离电路的第一输入端的高电平传输至所述隔离电路的第一输出端，所述隔离电路将所述隔离电路的第二输入端的高电平传输至所述隔离电路的第二输出端，所述第一逻辑与门的输出端为高电平，所述第三逻辑与门的输出端为高电平，使得所述第一通信节点的接收端、所述第二通信节点的接收端和所述第三通信节点的接收端为高电平。Wherein, when the transmitting end of the first communication node, the transmitting end of the second communication node and the transmitting end of the third communication node are at a high level, the output end of the second logical AND gate is high, the isolation circuit transmits the high level of the first input terminal of the isolation circuit to the first output terminal of the isolation circuit, and the isolation circuit transmits the high level of the second input terminal of the isolation circuit. is transmitted to the second output terminal of the isolation circuit, the output terminal of the first logical AND gate is high level, and the output terminal of the third logical AND gate is high level, so that the first communication node The receiving end of , the receiving end of the second communication node and the receiving end of the third communication node are high level.

其中，所述板内通信电路还包括第一滤波电路、第二滤波电路和第三滤波电路；所述第一滤波电路设置在所述第一通信节点的接收端和所述第一逻辑与门的输出端之间，所述第二滤波电路设置在所述第二通信节点的接收端和所述第一逻辑与门的输出端之间，所述第三滤波电路设置在所述第三通信节点的接收端和所述第三逻辑与门的输出端之间。Wherein, the in-board communication circuit further includes a first filter circuit, a second filter circuit and a third filter circuit; the first filter circuit is arranged at the receiving end of the first communication node and the first logic AND gate The second filter circuit is arranged between the receiving end of the second communication node and the output end of the first logic AND gate, and the third filter circuit is arranged between the third communication node between the receiving end of the node and the output end of the third logical AND gate.

其中，所述第一滤波电路包括第一电阻和第一电容，所述第二滤波电路包括第二电阻和第二电容，第三滤波电路包括第三电阻和第三电容；Wherein, the first filter circuit includes a first resistor and a first capacitor, the second filter circuit includes a second resistor and a second capacitor, and the third filter circuit includes a third resistor and a third capacitor;

所述第一电阻的第一端连接所述第一电容的第一端和所述第一通信节点的接收端，所述第一电容的第二端接地，所述第一电阻的第二端连接所述第一 逻辑与门的输出端；The first end of the first resistor is connected to the first end of the first capacitor and the receiving end of the first communication node, the second end of the first capacitor is grounded, and the second end of the first resistor connecting the output end of the first logic AND gate;

所述第二电阻的第一端连接所述第二电容的第一端和所述第二通信节点的接收端，所述第二电容的第二端接地，所述第二电阻的第二端连接所述第一逻辑与门的输出端；The first end of the second resistor is connected to the first end of the second capacitor and the receiving end of the second communication node, the second end of the second capacitor is grounded, and the second end of the second resistor connecting the output end of the first logic AND gate;

所述第三电阻的第一端连接所述第三电容的第一端和所述第三通信节点的接收端，所述第三电容的第二端接地，所述第三电阻的第二端连接所述第三逻辑与门的输出端。The first end of the third resistor is connected to the first end of the third capacitor and the receiving end of the third communication node, the second end of the third capacitor is grounded, and the second end of the third resistor The output terminal of the third logic AND gate is connected.

其中，所述隔离电路包括光耦合隔离芯片。Wherein, the isolation circuit includes an optical coupling isolation chip.

本申请实施例第二方面，提供了一种板内通信装置，所述板内通信装置包括第一通信节点、第二通信节点、第三通信节点和本申请实施例第一方面中的任一种基于控制器局域网络CAN通信的板内通信电路。In a second aspect of the embodiments of the present application, an intra-board communication device is provided, where the intra-board communication device includes a first communication node, a second communication node, a third communication node, and any one of the first aspect of the embodiments of the present application An on-board communication circuit based on controller area network CAN communication.

其中，所述第一通信节点、所述第二通信节点和所述第三通信节点均包括微控制单元MCU和控制器局域网络CAN控制器。Wherein, the first communication node, the second communication node and the third communication node all include a microcontroller unit MCU and a controller area network CAN controller.

其中，所述第一通信节点、所述第二通信节点和所述第三通信节点均包括MCU，所述MCU内集成有CAN控制器。Wherein, the first communication node, the second communication node and the third communication node all include an MCU, and a CAN controller is integrated in the MCU.

实施本申请实施例，针对不同低电平的三个通信节点的板内通信，通过在三个通信节点之间设置板内通信电路，可以在三个通信节点均无收发器的情况下实现三个通信节点的CAN通信，且将通信节点之间的CAN信号隔离，消除通信节点之间的CAN信号干扰，降低了硬件成本。Implementing the embodiments of the present application, for the intra-board communication of three communication nodes with different low levels, by setting an intra-board communication circuit between the three communication nodes, the three communication nodes can be implemented without a transceiver. CAN communication between the communication nodes, and the CAN signals between the communication nodes are isolated, the CAN signal interference between the communication nodes is eliminated, and the hardware cost is reduced.

附图说明Description of drawings

为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without any creative effort.

图1a是现有通信节点采用CAN收发器进行CAN通信的示意图；Fig. 1a is the schematic diagram that the existing communication node adopts CAN transceiver to carry out CAN communication;

图1b是本申请实施例公开的一种基于控制器局域网络CAN通信的板内通信电路实现CAN通信的CAN信号示意图；1b is a schematic diagram of a CAN signal for realizing CAN communication by an on-board communication circuit based on a controller area network CAN communication disclosed in an embodiment of the present application;

图1c是本申请实施例公开的一种基于控制器局域网络CAN通信的板内通 信电路实现CAN通信的CAN信号的电平示意图；Fig. 1c is a kind of level schematic diagram of the CAN signal that realizes CAN communication based on the in-board communication circuit of controller area network CAN communication disclosed in the embodiment of the present application;

图2是本申请实施例公开的一种基于控制器局域网络CAN通信的板内通信电路的结构示意图；2 is a schematic structural diagram of an on-board communication circuit based on controller area network CAN communication disclosed in an embodiment of the present application;

图3是本申请实施例公开的另一种基于控制器局域网络CAN通信的板内通信电路的结构示意图；3 is a schematic structural diagram of another on-board communication circuit based on controller area network CAN communication disclosed in an embodiment of the present application;

图4是本申请实施例公开的另一种基于控制器局域网络CAN通信的板内通信电路的结构示意图；4 is a schematic structural diagram of another on-board communication circuit based on controller area network CAN communication disclosed in an embodiment of the present application;

图5是本申请实施例公开的一种板内通信装置的结构示意图；5 is a schematic structural diagram of an in-board communication device disclosed in an embodiment of the present application;

图6是本申请实施例公开的另一种板内通信装置的结构示意图。FIG. 6 is a schematic structural diagram of another in-board communication device disclosed in an embodiment of the present application.

具体实施方式detailed description

下面将结合本申请实施方式中的附图，对本申请实施方式中的技术方案进行清楚、完整地描述。显然，所描述的实施方式是本申请的一部分实施方式，而不是全部实施方式。基于本申请中的实施方式，本领域普通技术人员在没有做出创造性劳动的前提下所获得的所有其他实施方式，都应属于本申请保护的范围。The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are some, but not all, embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the scope of the protection of the present application.

本申请实施例公开一种基于CAN通信的板内通信电路及装置，以下进行详细说明。The embodiments of the present application disclose an on-board communication circuit and device based on CAN communication, which will be described in detail below.

本申请实施例所涉及的术语“第一”、“第二”等是用于区别不同对象，而不是用于描述特定顺序，此外，术语“包括”和“具有”以及它们任何变形，意图在于覆盖不排他的包含。The terms "first", "second", etc. involved in the embodiments of the present application are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "include" and "have" and any of their modifications are intended to be Override non-exclusive includes.

在现有的CAN通信中，每个通信节点是通过CAN收发器在总线上发送和接收其他通信节点的信号，因此，每个通信节点必须外加一个CAN收发器。In the existing CAN communication, each communication node sends and receives signals from other communication nodes on the bus through a CAN transceiver, so each communication node must add a CAN transceiver.

图1a是现有通信节点采用CAN收发器进行CAN通信的示意图。如图1a所示，第一通信节点、第二通信节点、第N通信节点之间可以通过CAN总线进行连接。其中，第一通信节点包括第一MCU、第一CAN控制器和第一CAN收发器，第二通信节点包括第二MCU、第二CAN控制器和第二CAN收发器，以此类推，第N通信节点包括第N MCU、第N CAN控制器和第N CAN收发器。每个通信节点在发送信号时，需要通过CAN收发器将发送的信号转换为 共模信号(共模信号包括共模高电平CAN_H和共模低电平CAN_L)在CAN总线上传输。其中，CAN控制器可以集成在微控制单元MCU内部，也可以单独存在。图1a以CAN控制器集成在微控制单元MCU内部为例进行说明。FIG. 1a is a schematic diagram of a prior communication node using a CAN transceiver for CAN communication. As shown in FIG. 1a, the first communication node, the second communication node, and the Nth communication node may be connected through a CAN bus. Wherein, the first communication node includes the first MCU, the first CAN controller and the first CAN transceiver, the second communication node includes the second MCU, the second CAN controller and the second CAN transceiver, and so on, the Nth The communication node includes an Nth MCU, an Nth CAN controller, and an Nth CAN transceiver. When each communication node sends a signal, it needs to convert the sent signal into a common mode signal (the common mode signal includes the common mode high level CAN_H and the common mode low level CAN_L) through the CAN transceiver and transmit it on the CAN bus. Among them, the CAN controller can be integrated in the microcontroller MCU, or it can exist independently. Fig. 1a takes the CAN controller integrated in the microcontroller MCU as an example for illustration.

请参阅图1b，图1b是本申请实施例公开的一种采用CAN收发器实现CAN通信的CAN信号示意图。图1b是基于图1a使用CAN收发器的CAN通信中的CAN信号示意图。CAN信号是一种以显性电平和隐性电平交替出现的比特流信号，CAN信号可以包括传输控制命令，也可以包括数据段或数据块。CAN信号中，以“0”代表显性，显性对应为低电平，以“1”代表隐性，隐性对应为高电平。如图1b所示，CAN信号以控制命令为例，CAN信号在第一个时间段内为显性电平“0”、第二个时间段内为隐性电平“1”、第三个时间段内为显性电平“0”、第四个时间段内为显性电平“0”、第五个时间段内为隐性电平“1”，可以将这五个时间段的时长之和作为一个周期，在下一周期又会重复出现这五个时间段对应的电平，可以用于周期性的传输同一控制命令。Please refer to FIG. 1b, FIG. 1b is a schematic diagram of a CAN signal using a CAN transceiver to realize CAN communication disclosed in an embodiment of the present application. Fig. 1b is a schematic diagram of CAN signals in CAN communication using a CAN transceiver based on Fig. 1a. The CAN signal is a bit stream signal that alternates with dominant level and recessive level. The CAN signal can include transmission control commands, as well as data segments or data blocks. In the CAN signal, "0" represents dominant, dominant corresponds to low level, "1" represents recessive, and recessive corresponds to high level. As shown in Figure 1b, the CAN signal takes the control command as an example. The CAN signal is the dominant level "0" in the first time period, the recessive level "1" in the second time period, and the third time period. The dominant level is "0" in the time period, the dominant level is "0" in the fourth time period, and the recessive level "1" is in the fifth time period. The sum of the durations is used as a cycle, and the levels corresponding to the five time periods will appear repeatedly in the next cycle, which can be used to periodically transmit the same control command.

请参阅图1c，图1c是本申请实施例公开的一种采用CAN收发器实现CAN通信的CAN信号的电平示意图。图1c是基于图1a的使用CAN收发器的CAN通信中的CAN信号的电平示意图。如图1c所示，CAN信号中的显性电平和隐性电平不是对应两个具体数值的电压，而是对应为两个电压范围，例如，CAN信号中的显性电平为“0V～1.5V”时，相应的隐性电平为“1.5V～5V”；CAN信号中的显性电平为“0V～2.5V”时，相应的隐性电平为“2.5V～5V”；CAN信号中的显性电平为“0V～3.5V”时，相应的隐性电平为“3.5V～5V”。Please refer to FIG. 1c. FIG. 1c is a schematic level diagram of a CAN signal that uses a CAN transceiver to implement CAN communication disclosed in an embodiment of the present application. FIG. 1c is a schematic diagram of the level of CAN signals in CAN communication using a CAN transceiver based on FIG. 1a. As shown in Figure 1c, the dominant level and the recessive level in the CAN signal are not voltages corresponding to two specific values, but correspond to two voltage ranges. For example, the dominant level in the CAN signal is "0V~ 1.5V", the corresponding recessive level is "1.5V~5V"; when the dominant level in the CAN signal is "0V~2.5V", the corresponding recessive level is "2.5V~5V"; When the dominant level in the CAN signal is "0V~3.5V", the corresponding recessive level is "3.5V~5V".

但是，采用现有的CAN通信方式，在板内实现CAN通信时，为每个通信节点外加一个CAN收发器会增加板内通信的成本。However, using the existing CAN communication method, when CAN communication is implemented in the board, adding a CAN transceiver to each communication node will increase the cost of the intra-board communication.

请参阅图2，图2是本申请实施例公开的一种基于CAN通信的板内通信电路的结构示意图。如图2所示，本实施例中所描述的板内通信电路40用于实现第一通信节点10、第二通信节点20和第三通信节点30之间的板内CAN通信；Please refer to FIG. 2. FIG. 2 is a schematic structural diagram of an on-board communication circuit based on CAN communication disclosed in an embodiment of the present application. As shown in FIG. 2 , the intra-board communication circuit 40 described in this embodiment is used to realize intra-board CAN communication among the first communication node 10, the second communication node 20 and the third communication node 30;

第一通信节点10的接地端VSS1和第二通信节点20的接地端VSS2连接同一地线，第一通信节点10的接地端VSS1和第三通信节点30的接地端VSS3为不同地电平，第二通信节点20的接地端VSS2和第三通信节点30的接地端VSS3为 不同地电平；第一通信节点10的接收端RX1连接第二通信节点20的接收端RX2；The ground terminal VSS1 of the first communication node 10 and the ground terminal VSS2 of the second communication node 20 are connected to the same ground wire. The ground terminal VSS1 of the first communication node 10 and the ground terminal VSS3 of the third communication node 30 are at different ground levels. The ground terminal VSS2 of the second communication node 20 and the ground terminal VSS3 of the third communication node 30 are at different ground levels; the receiving terminal RX1 of the first communication node 10 is connected to the receiving terminal RX2 of the second communication node 20;

板内通信电路40的第一输入端401连接第一通信节点10的发送端TX1，板内通信电路40的第二输入端402连接第二通信节点20的发送端TX2，板内通信电路40的第三输入端403连接第三通信节点30的发送端TX3；板内通信电路40的第一输出端404连接第一通信节点10的接收端RX1，板内通信电路40的第二输出端405连接第三通信节点30的接收端RX3；The first input end 401 of the in-board communication circuit 40 is connected to the transmitting end TX1 of the first communication node 10 , the second input end 402 of the in-board communication circuit 40 is connected to the transmitting end TX2 of the second communication node 20 , and the The third input terminal 403 is connected to the transmitting terminal TX3 of the third communication node 30; the first output terminal 404 of the in-board communication circuit 40 is connected to the receiving terminal RX1 of the first communication node 10, and the second output terminal 405 of the in-board communication circuit 40 is connected to the receiving end RX3 of the third communication node 30;

板内通信电路40用于在第一通信节点10的发送端TX1、第二通信节点20的发送端TX2、第三通信节点30的发送端TX3中的至少一个为低电平的情况下，实现第一通信节点10的接收端RX1、第二通信节点20的接收端RX2和第三通信节点30的接收端RX3为低电平；The on-board communication circuit 40 is used to realize the low level of at least one of the transmitting end TX1 of the first communication node 10, the transmitting end TX2 of the second communication node 20, and the transmitting end TX3 of the third communication node 30. The receiving end RX1 of the first communication node 10, the receiving end RX2 of the second communication node 20 and the receiving end RX3 of the third communication node 30 are low level;

板内通信电路40还用于在第一通信节点10的发送端TX1、第二通信节点20的发送端TX2和第三通信节点30的发送端TX3均为高电平的情况下，实现第一通信节点10的接收端RX1、第二通信节点20的接收端RX2和第三通信节点30的接收端RX3为高电平；The on-board communication circuit 40 is also used to realize the first communication in the case where the transmitting end TX1 of the first communication node 10, the transmitting end TX2 of the second communication node 20 and the transmitting end TX3 of the third communication node 30 are all at a high level. The receiver RX1 of the communication node 10, the receiver RX2 of the second communication node 20 and the receiver RX3 of the third communication node 30 are at a high level;

板内通信电路40还用于隔离第一通信节点10发送的CAN信号与第三通信节点30发送的CAN信号，板内通信电路40还用于隔离第二通信节点20发送的CAN信号与第三通信节点30发送的CAN信号。The intra-board communication circuit 40 is also used to isolate the CAN signal sent by the first communication node 10 from the CAN signal sent by the third communication node 30, and the intra-board communication circuit 40 is also used to isolate the CAN signal sent by the second communication node 20 from the third communication node. CAN signal sent by the communication node 30 .

本申请实施例中，板内通信电路40，也可以称为片内通信电路，是在同一个电路板内的通信电路或者是在同一个芯片的集成电路内部的通信电路。板内通信电路40可以用于无需大电缆线来承载大电流的电路板中，比如，印制电路板(printed circuit board，PCB)等。通信节点可以为微控制单元(microcontroller unit,MCU)，也可以为微控制单元MCU与其他电子元件相互连接的单元，还可以为包含微控制单元MCU的集成电子器件。第一通信节点10、第二通信节点20、第三通信节点30均为不包含CAN收发器的通信节点。In the embodiment of the present application, the on-board communication circuit 40, which may also be referred to as an on-chip communication circuit, is a communication circuit within the same circuit board or a communication circuit within an integrated circuit of the same chip. The on-board communication circuit 40 may be used in circuit boards that do not require large cables to carry large currents, such as printed circuit boards (PCBs) and the like. The communication node may be a microcontroller unit (MCU), a unit interconnecting the microcontroller unit MCU and other electronic components, or an integrated electronic device including the microcontroller unit MCU. The first communication node 10, the second communication node 20, and the third communication node 30 are all communication nodes that do not include a CAN transceiver.

第一通信节点10、第二通信节点20、第三通信节点30可以通过板内通信电路40实现控制器局域网络CAN总线通信。第一通信节点10、第二通信节点20、第三通信节点30可以通过板内通信电路40进行数据传输和控制命令传输。The first communication node 10 , the second communication node 20 , and the third communication node 30 can implement controller area network CAN bus communication through the on-board communication circuit 40 . The first communication node 10 , the second communication node 20 , and the third communication node 30 can perform data transmission and control command transmission through the on-board communication circuit 40 .

其中，CAN总线可以用于传输数据，也可以用于传输控制命令。传输数据 时，可以以数据块为单位，对数据块进行编码，得到以比特(二进制数的一位包含的信息＝1比特)为最小单位的数据块。Among them, the CAN bus can be used to transmit data, and can also be used to transmit control commands. When transmitting data, the data block can be encoded in a data block unit to obtain a data block with a minimum unit of bits (information contained in one bit of a binary number = 1 bit).

CAN总线，是国际上应用最广泛的现场总线之一。20世纪80年代初，德国Bosch公司为了解决现代汽车中众多的控制与测试仪表之间的数据交换问题，开发出CAN总线。CAN总线能有效支持分布式控制或实时控制的串行通信网络，具有抗干扰性强和使用可靠等优点，最初主要应用汽车工业，现在广泛应用于汽车工业、航空工业和工业控制等自动化领域，如分布式环境监测***、温室环境监控***、变电站变监测***等。CAN bus is one of the most widely used field buses in the world. In the early 1980s, the German Bosch company developed the CAN bus in order to solve the problem of data exchange between numerous control and test instruments in modern automobiles. CAN bus can effectively support serial communication network of distributed control or real-time control, and has the advantages of strong anti-interference and reliable use. Such as distributed environmental monitoring system, greenhouse environmental monitoring system, substation monitoring system, etc.

CAN总线是一种串行数据通信协议，其通信接口(比如，第一通信节点10、第二通信节点20、第三通信节点30)中集成了CAN协议的物理层和数据链路层功能，可完成对数据的成帧处理，包括位填充、数据块编码、循环冗余校验、优先级判别等项工作。用户可在其基础上开发适应***实际需要的应用层通信协议。CAN协议的一个最大特点是废除了传统的站地址编码，而代之以对通信数据块编码，采用这种方法可使网络内节点个数在理论上不受限制，还可使不同的节点同时收到相同的数据。The CAN bus is a serial data communication protocol, and its communication interfaces (for example, the first communication node 10, the second communication node 20, and the third communication node 30) integrate the physical layer and data link layer functions of the CAN protocol. It can complete the framing processing of data, including bit stuffing, data block coding, cyclic redundancy check, and priority discrimination. Users can develop application layer communication protocols that meet the actual needs of the system on its basis. One of the biggest features of the CAN protocol is that the traditional station address coding is abolished, and the communication data block coding is replaced. This method can make the number of nodes in the network theoretically unlimited, and also allow different nodes to simultaneously received the same data.

CAN总线具有如下优点：CAN bus has the following advantages:

(1)CAN总线是一种多主总线，即每个节点机均可成为主机，且节点机之间也可进行通信；(1) The CAN bus is a multi-master bus, that is, each node machine can become the master, and the node machines can also communicate;

(2)CAN总线的通信介质可以是双绞线、同轴电缆或光导纤维，通信速率可达1Mbps；(2) The communication medium of CAN bus can be twisted pair, coaxial cable or optical fiber, and the communication rate can reach 1Mbps;

(3)CAN总线中传输的数据段长度最多为8个字节，可满足通常工业领域中控制命令，工作状态及测试数据的一般要求。同时，8个字节不会占用总线时间过长，从而保证了通信的实时性；(3) The length of the data segment transmitted in the CAN bus is up to 8 bytes, which can meet the general requirements of control commands, working states and test data in the usual industrial fields. At the same time, 8 bytes will not occupy the bus for too long, thus ensuring the real-time communication;

(4)CAN协议采用循环冗余校验码(cyclic redundancy check，CRC)校验并可提供相应的错误处理功能，保证了数据通信的可靠性；(4) The CAN protocol adopts cyclic redundancy check (CRC) check and can provide corresponding error handling functions to ensure the reliability of data communication;

(5)CAN可以以多主方式工作，网络上任意节点均可以在任意时刻主动地向总线上其它节点发送信息，实现点对点、一点对多点及全局广播几种方式发送接收数据；(5) CAN can work in a multi-master mode, and any node on the network can actively send information to other nodes on the bus at any time, realizing point-to-point, point-to-multipoint and global broadcasting. Send and receive data in several ways;

(6)CAN采用非破坏性总线仲裁技术，当两个节点同时向总线上发送信 息时，优先级低的节点主动停止数据发送，而优先级高的节点可不受影响地继续传输数据，节省了总线冲突仲裁时间。(6) CAN adopts non-destructive bus arbitration technology. When two nodes send information to the bus at the same time, the node with low priority actively stops data transmission, while the node with high priority can continue to transmit data without being affected, saving Bus collision arbitration time.

CAN总线的典型的应用场景：主节点接收其他节点发送的现场数据，如现场温度、电流、压力等参数，主节点经过处理后生成各种控制命令，并通过CAN总线将控制命令发送至各个其他节点。Typical application scenarios of CAN bus: The master node receives field data sent by other nodes, such as field temperature, current, pressure and other parameters, the master node generates various control commands after processing, and sends the control commands to various other nodes through the CAN bus. node.

本申请实施例的板内通信电路40用于三个通信节点之间的CAN通信，第一通信节点10和第二通信节点20接同一个地，而第三通信节点30与第一通信节点10、第二通信节点20接不同的地。如果第一通信节点10与第三通信节点30之间不进行隔离，则第一通信节点10与第三通信节点30之间进行CAN通信时会相互干扰；如果第二通信节点20与第三通信节点30之间不进行隔离，则第二通信节点20与第三通信节点30之间进行CAN通信时会相互干扰。本申请实施例的板内通信电路40可以隔离第一通信节点10发送的CAN信号与第三通信节点30发送的CAN信号，还可以隔离第二通信节点20发送的CAN信号与第三通信节点30发送的CAN信号，从而避免第一通信节点10与第三通信节点30之间进行CAN通信时的干扰，避免第二通信节点20与第三通信节点30之间进行CAN通信时的干扰。The on-board communication circuit 40 of the embodiment of the present application is used for CAN communication between three communication nodes, the first communication node 10 and the second communication node 20 are connected to the same ground, and the third communication node 30 and the first communication node 10 are connected to the same ground. . The second communication node 20 is connected to different grounds. If the first communication node 10 and the third communication node 30 are not isolated, the CAN communication between the first communication node 10 and the third communication node 30 will interfere with each other; if the second communication node 20 communicates with the third communication node 30 If the nodes 30 are not isolated, the second communication node 20 and the third communication node 30 may interfere with each other during CAN communication. The on-board communication circuit 40 in this embodiment of the present application can isolate the CAN signal sent by the first communication node 10 from the CAN signal sent by the third communication node 30 , and can also isolate the CAN signal sent by the second communication node 20 from the third communication node 30 The CAN signal sent, thereby avoiding interference during CAN communication between the first communication node 10 and the third communication node 30 and avoiding interference during CAN communication between the second communication node 20 and the third communication node 30 .

本申请实施例中，在第一通信节点10的发送端TX1发送的CAN信号、第二通信节点20的发送端TX2发送的CAN信号、第三通信节点30的发送端TX3发送的CAN信号均为高电平的情况下，板内通信电路40可以实现第一通信节点10的接收端RX1、第二通信节点20的接收端RX2和第三通信节点30的接收端RX3为高电平，在通信节点均没有CAN收发器的情况下实现原有的通信功能(即，在其中任意一个通信节点的发送端为低电平的情况下，所有的通信节点的接收端均为低电平，在所有的通信节点的发送端均为高电平的情况下，所有的通信节点的接收端才为高电平)。In the embodiment of the present application, the CAN signal sent by the sending end TX1 of the first communication node 10, the CAN signal sent by the sending end TX2 of the second communication node 20, and the CAN signal sent by the sending end TX3 of the third communication node 30 are all In the case of a high level, the on-board communication circuit 40 can realize that the receiving end RX1 of the first communication node 10, the receiving end RX2 of the second communication node 20, and the receiving end RX3 of the third communication node 30 are at a high level. The original communication function is realized when the nodes do not have CAN transceivers (that is, when the transmitting end of any one of the communication nodes is low level, the receiving ends of all communication nodes are low level, and the When the transmitters of all communication nodes are at high level, the receivers of all communication nodes are at high level).

请参阅表1，表1是图2的板内通信电路的通信节点之间的电平变化。如表1所示，高电平为“1”，低电平为“0”。从表1可以看出，只要第一通信节点、第二通信节点、第三通信节点的其中任意一个发送端(TX1或TX2或TX3)为低电平，第一通信节点、第二通信节点和第三通信节点的接收端(RX1和RX2和RX3)均为低电平，当第一通信节点、第二通信节点和第三通信节点的接收 端的发送端(TX1和TX2和TX3)均为高电平时，第一通信节点、第二通信节点和第三通信节点的接收端(RX1和RX2和RX3)均为高电平。图2的板内通信电路不采用图1a的CAN收发器，不采用CAN信号，也能实现CAN通信的功能。Please refer to Table 1, which is the level change between the communication nodes of the on-board communication circuit of FIG. 2 . As shown in Table 1, the high level is "1" and the low level is "0". It can be seen from Table 1 that as long as any one of the transmitters (TX1 or TX2 or TX3) of the first communication node, the second communication node and the third communication node is at a low level, the first communication node, the second communication node and the The receivers (RX1, RX2, and RX3) of the third communication node are all low, and when the transmitters (TX1, TX2, and TX3) of the receivers of the first communication node, the second communication node, and the third communication node are all high When the level is high, the receivers (RX1, RX2, and RX3) of the first communication node, the second communication node, and the third communication node are all at a high level. The on-board communication circuit in Fig. 2 does not use the CAN transceiver of Fig. 1a and does not use the CAN signal, and can also realize the function of CAN communication.

高电平和低电平分别对应的是数字信号的“1”和“0”。高电平对应的模拟信号的电压范围和低电平对应的模拟信号的电压范围没有交集。举例来说，高电平对应的模拟信号的电压范围为大于2.5V，低电平对应的模拟信号的电压范围为0～1.2V。The high level and the low level correspond to the "1" and "0" of the digital signal, respectively. There is no intersection between the voltage range of the analog signal corresponding to the high level and the voltage range of the analog signal corresponding to the low level. For example, the voltage range of the analog signal corresponding to the high level is greater than 2.5V, and the voltage range of the analog signal corresponding to the low level is 0-1.2V.

表1Table 1

TX1电平TX1 level	TX2电平TX2 level	TX3电平TX3 level	RX1电平RX1 level	RX2电平RX2 level		RX3电平RX3 level
00	00	00	00	00	00
00	00	11	00	00	00
00	11	00	00	00	00
00	11	11	00	00	00
11	00	00	00	00	00
11	00	11	00	00	00
11	11	00	00	00	00
11	11	11	11	11	11

其中，TX1为第一通信节点10的发送端，TX2为第二通信节点20的发送端，TX3为第三通信节点30的发送端，RX1为第一通信节点10的接收端，RX2为第二通信节点20的接收端，RX3为第三通信节点30的接收端。Among them, TX1 is the transmitting end of the first communication node 10, TX2 is the transmitting end of the second communication node 20, TX3 is the transmitting end of the third communication node 30, RX1 is the receiving end of the first communication node 10, and RX2 is the second communication node 10. The receiving end of the communication node 20 , and RX3 is the receiving end of the third communication node 30 .

本申请实施例中，针对不同低电平的三个通信节点的板内通信，通过在三个通信节点之间设置板内通信电路，可以在三个通信节点均无收发器的情况下实现三个通信节点的CAN通信，且将通信节点之间的CAN信号隔离，消除通信节点之间的CAN信号干扰。In the embodiment of the present application, for the intra-board communication of three communication nodes with different low levels, by setting up an intra-board communication circuit between the three communication nodes, the three communication nodes can be implemented without a transceiver. CAN communication between the communication nodes, and the CAN signals between the communication nodes are isolated to eliminate the CAN signal interference between the communication nodes.

请参阅图3，图3是本申请实施例公开的另一种基于控制器局域网络CAN通信的板内通信电路的结构示意图。板内通信电路40包括第一逻辑与门41、第 二逻辑与门42、第三逻辑与门43和隔离电路44。Please refer to FIG. 3 . FIG. 3 is a schematic structural diagram of another on-board communication circuit based on CAN communication of a controller area network disclosed in an embodiment of the present application. The on-board communication circuit 40 includes a first logical AND gate 41 , a second logical AND gate 42 , a third logical AND gate 43 and an isolation circuit 44 .

为了便于本领域技术人员的理解，图3中的第一逻辑与门采用符号“AND1”进行替代，第二逻辑与门采用符号“AND2”进行替代，第三逻辑与门采用符号“AND3”进行替代。In order to facilitate the understanding of those skilled in the art, the first logical AND gate in FIG. 3 is replaced by the symbol "AND1", the second logical AND gate is replaced by the symbol "AND2", and the third logical AND gate is replaced by the symbol "AND3". alternative.

第一通信节点10的发送端TX1连接第二逻辑与门42的第一输入端421，第一通信节点10的接收端RX1连接第一逻辑与门41的输出端413和第二通信节点20的接收端RX2，第二通信节点20的发送端TX2连接第二逻辑与门42的第二输入端422，第一逻辑与门41的第一输入端411连接隔离电路44的第二输入端443和第二逻辑与门42的输出端423，第一逻辑与门41的第二输入端412连接隔离电路44的第一输出端442，隔离电路44的第一输入端441连接第三逻辑与门43的第一输入端431和第三通信节点30的发送端TX3，隔离电路44的第二输出端444连接第三逻辑与门43的第二输入端432，第三逻辑与门43的输出端433连接第三通信节点30的接收端RX3。The transmitting end TX1 of the first communication node 10 is connected to the first input end 421 of the second logical AND gate 42 , and the receiving end RX1 of the first communication node 10 is connected to the output end 413 of the first logical AND gate 41 and the output end 413 of the second communication node 20 . The receiving end RX2, the transmitting end TX2 of the second communication node 20 is connected to the second input end 422 of the second logical AND gate 42, and the first input end 411 of the first logical AND gate 41 is connected to the second input end 443 of the isolation circuit 44 and The output terminal 423 of the second logical AND gate 42, the second input terminal 412 of the first logical AND gate 41 is connected to the first output terminal 442 of the isolation circuit 44, and the first input terminal 441 of the isolation circuit 44 is connected to the third logical AND gate 43 The first input terminal 431 of the third communication node 30 and the transmitting terminal TX3 of the third communication node 30, the second output terminal 444 of the isolation circuit 44 is connected to the second input terminal 432 of the third logical AND gate 43, and the output terminal 433 of the third logical AND gate 43 The receiving end RX3 of the third communication node 30 is connected.

其中，第二逻辑与门42的第一输入端421可以对应图2中板内通信电路40的第一输入端401，第二逻辑与门42的第二输入端422可以对应图2中板内通信电路40的第二输入端402，第一逻辑与门41的输出端413可以对应图2中板内通信电路40的第一输出端404，第三逻辑与门43的输出端433可以对应图2中板内通信电路40的第二输出端405，隔离电路44的第一输入端441可以对应图2中板内通信电路40的第三输入端403。The first input terminal 421 of the second logical AND gate 42 may correspond to the first input terminal 401 of the on-board communication circuit 40 in FIG. 2 , and the second input terminal 422 of the second logical AND gate 42 may correspond to the on-board communication circuit 40 in FIG. 2 . The second input terminal 402 of the communication circuit 40, the output terminal 413 of the first logical AND gate 41 may correspond to the first output terminal 404 of the on-board communication circuit 40 in FIG. 2, and the output terminal 433 of the third logical AND gate 43 may correspond to the FIG. 2. The second output terminal 405 of the intra-board communication circuit 40 and the first input terminal 441 of the isolation circuit 44 may correspond to the third input terminal 403 of the intra-board communication circuit 40 in FIG. 2 .

本申请实施例中的逻辑与门可以是执行“与”运算的基本逻辑门电路。本申请实施例中的逻辑与门可以是2输入与门，每个逻辑与门可以包含两个输入端和一个输出端。The logic AND gate in this embodiment of the present application may be a basic logic gate circuit that performs an "AND" operation. The logical AND gate in this embodiment of the present application may be a 2-input AND gate, and each logical AND gate may include two input terminals and one output terminal.

其中，隔离电路44可以为隔离芯片。使被隔离的两个通信节点之间没有电的直接连接，主要是防止因有电的连接而引起的干扰。比如，第一通信节点10和第二通信节点20的工作电压为直流高压，第三通信节点30的工作电压为直流低压，第一通信节点10与第三通信节点30的接地电平不同。又比如，第一通信节点10和第二通信节点20的工作电压为直流高压，第三通信节点30工作在交流模式，第一通信节点10与第三通信节点30的接地电平也不相同。如果第一通信节点10与第三通信节点30之间不采用隔离电路44，则第一通信节点10与第三通 信节点30之间会相互干扰。如果第二通信节点20与第三通信节点30之间不采用隔离电路44，则第二通信节点20与第三通信节点30之间会相互干扰。采用本方案后，则会避免出现这样的问题。Wherein, the isolation circuit 44 may be an isolation chip. There is no electrical direct connection between the two isolated communication nodes, mainly to prevent the interference caused by the electrical connection. For example, the working voltages of the first communication node 10 and the second communication node 20 are DC high voltage, the working voltage of the third communication node 30 is DC low voltage, and the ground levels of the first communication node 10 and the third communication node 30 are different. For another example, the working voltages of the first communication node 10 and the second communication node 20 are DC high voltage, the third communication node 30 is working in the AC mode, and the ground levels of the first communication node 10 and the third communication node 30 are also different. If the isolation circuit 44 is not used between the first communication node 10 and the third communication node 30, the first communication node 10 and the third communication node 30 will interfere with each other. If the isolation circuit 44 is not used between the second communication node 20 and the third communication node 30, the second communication node 20 and the third communication node 30 will interfere with each other. After adopting this scheme, such problems will be avoided.

可选的，隔离电路44可以包括光耦合隔离芯片。可以应用在第一通信节点10和第二通信节点20的工作电压为直流高压(比如，节点的工作电压在50V以上)，而第三通信节点30为的工作电压为直流低压(比如，节点的工作电压在10V以下)的情况，还可以应用在第一通信节点10和第二通信节点20为低压工作节点，而第三通信节点30为高压工作节点的情况。Optionally, the isolation circuit 44 may include an optically coupled isolation chip. It can be applied that the working voltage of the first communication node 10 and the second communication node 20 is DC high voltage (for example, the working voltage of the node is above 50V), while the working voltage of the third communication node 30 is DC low voltage (for example, the node's working voltage is DC low voltage). The case where the working voltage is below 10V) can also be applied to the case where the first communication node 10 and the second communication node 20 are low-voltage working nodes, and the third communication node 30 is a high-voltage working node.

通过第一逻辑与门41、第二逻辑与门42、第三逻辑与门43和隔离电路44实现“在任意一个通信节点的发送端为低电平的情况下，所有的通信节点的接收端均为低电平，在所有的通信节点的发送端均为高电平的情况下，所有的通信节点的接收端才为高电平”的功能。Through the first logical AND gate 41, the second logical AND gate 42, the third logical AND gate 43 and the isolation circuit 44, "in the case that the sending end of any communication node is at a low level, the receiving end of all communication nodes will be are all low level, in the case that all communication nodes' transmitting ends are high level, all communication nodes' receiving ends are high level" function.

具体的，在第一通信节点10的发送端TX1或第二通信节点20的发送端TX2为低电平的情况下，第二逻辑与门42的输出端423为低电平，由于第二逻辑与门42的输出端423与第一逻辑与门41的第一输入端411连接，则第一逻辑与门41的输出端413为低电平，使得第一通信节点10的接收端RX1和第二通信节点20的接收端RX2为低电平；隔离电路44将隔离电路44的第二输入端443的低电平传输至隔离电路44的第二输出端444，由于隔离电路44的第二输出端444与第三逻辑与门43的第二输入端431连接，则第三逻辑与门43的输出端433为低电平，使得第三通信节点30的接收端RX3为低电平；Specifically, when the transmitting end TX1 of the first communication node 10 or the transmitting end TX2 of the second communication node 20 is at a low level, the output end 423 of the second logical AND gate 42 is at a low level, because the second logic The output terminal 423 of the AND gate 42 is connected to the first input terminal 411 of the first logical AND gate 41, then the output terminal 413 of the first logical AND gate 41 is at a low level, so that the receiving terminal RX1 of the first communication node 10 and the first logical AND gate 41 are at a low level. The receiving terminal RX2 of the two communication nodes 20 is at a low level; the isolation circuit 44 transmits the low level of the second input terminal 443 of the isolation circuit 44 to the second output terminal 444 of the isolation circuit 44, because the second output of the isolation circuit 44 The terminal 444 is connected with the second input terminal 431 of the third logical AND gate 43, then the output terminal 433 of the third logical AND gate 43 is low level, so that the receiving terminal RX3 of the third communication node 30 is low level;

在第三通信节点30的发送端TX3为低电平的情况下，由于第三通信节点30的发送端TX3与第三逻辑与门43的第一输入端431连接，则第三逻辑与门43的输出端433为低电平，使得第三通信节点30的接收端RX3为低电平；隔离电路44将隔离电路44的第一输入端441的低电平传输至隔离电路44的第一输出端442，由于隔离电路44的第一输出端442与第一逻辑与门41的第二输入端412连接，则第一逻辑与门41的输出端413为低电平，使得第一通信节点10的接收端RX1和第二通信节点20的接收端RX2为低电平。When the transmission terminal TX3 of the third communication node 30 is at a low level, since the transmission terminal TX3 of the third communication node 30 is connected to the first input terminal 431 of the third logical AND gate 43, the third logical AND gate 43 The output terminal 433 of the isolation circuit 44 is at a low level, so that the receiving terminal RX3 of the third communication node 30 is at a low level; the isolation circuit 44 transmits the low level of the first input terminal 441 of the isolation circuit 44 to the first output of the isolation circuit 44 terminal 442, since the first output terminal 442 of the isolation circuit 44 is connected to the second input terminal 412 of the first logical AND gate 41, the output terminal 413 of the first logical AND gate 41 is at a low level, so that the first communication node 10 The receiving end RX1 of the second communication node 20 and the receiving end RX2 of the second communication node 20 are low level.

具体的，在第一通信节点10的发送端TX1、第二通信节点20的发送端TX2和第三通信节点30的发送端TX3为高电平的情况下，由于第一通信节点10的发 送端TX1与第二逻辑与门42的第一输入端421连接，则第二逻辑与门42的输出端423为高电平，隔离电路44将隔离电路44的第一输入端441的高电平传输至隔离电路44的第一输出端442，隔离电路44将隔离电路44的第二输入端443的高电平传输至隔离电路44的第二输出端444，由于隔离电路44的第一输出端441与第一逻辑与门41的第二输入端412连接，则第一逻辑与门41的输出端413为高电平，使得第一通信节点10的接收端RX1、第二通信节点20的接收端RX2均为高电平；由于隔离电路44的第二输出端444与第三逻辑与门43的第二输入端432连接，则第三逻辑与门43的输出端433为高电平，使得第三通信节点30的接收端RX3为高电平。Specifically, when the transmitting end TX1 of the first communication node 10, the transmitting end TX2 of the second communication node 20, and the transmitting end TX3 of the third communication node 30 are at a high level, since the transmitting end of the first communication node 10 TX1 is connected to the first input terminal 421 of the second logical AND gate 42, then the output terminal 423 of the second logical AND gate 42 is at a high level, and the isolation circuit 44 transmits the high level of the first input terminal 441 of the isolation circuit 44 To the first output terminal 442 of the isolation circuit 44, the isolation circuit 44 transmits the high level of the second input terminal 443 of the isolation circuit 44 to the second output terminal 444 of the isolation circuit 44, since the first output terminal 441 of the isolation circuit 44 connected to the second input terminal 412 of the first logical AND gate 41, the output terminal 413 of the first logical AND gate 41 is at a high level, so that the receiving terminal RX1 of the first communication node 10 and the receiving terminal of the second communication node 20 RX2 is high level; since the second output terminal 444 of the isolation circuit 44 is connected to the second input terminal 432 of the third logical AND gate 43, the output terminal 433 of the third logical AND gate 43 is high level, so that the first The receiving end RX3 of the three communication nodes 30 is at a high level.

可选的，请参阅图4，图4是本申请实施例公开的另一种基于控制器局域网络CAN通信的板内通信电路的结构示意图。图4是在图3的基础上进一步优化得到的。如图4所示，在图3的基础上，本实施例中所描述的板内通信电路40还包括第一滤波电路50、第二滤波电路60和第三滤波电路70；第一滤波电路50设置在第一通信节点10的接收端RX1和第一逻辑与门41的输出端413之间，第二滤波电路60设置在第二通信节点20的接收端RX2和第一逻辑与门41的输出端413之间，第三滤波电路70设置在第三通信节点30的接收端RX3和第三逻辑与门43的输出端433之间。Optionally, please refer to FIG. 4 . FIG. 4 is a schematic structural diagram of another on-board communication circuit based on CAN communication of a controller area network disclosed in an embodiment of the present application. Figure 4 is obtained by further optimization on the basis of Figure 3 . As shown in FIG. 4 , on the basis of FIG. 3 , the on-board communication circuit 40 described in this embodiment further includes a first filter circuit 50 , a second filter circuit 60 and a third filter circuit 70 ; the first filter circuit 50 Set between the receiving end RX1 of the first communication node 10 and the output end 413 of the first logical AND gate 41, the second filter circuit 60 is set between the receiving end RX2 of the second communication node 20 and the output of the first logical AND gate 41 Between the terminals 413 , the third filter circuit 70 is arranged between the receiving terminal RX3 of the third communication node 30 and the output terminal 433 of the third logical AND gate 43 .

其中，第一滤波电路50包括第一电阻R1和第一电容C1，第二滤波电路60包括第二电阻R2和第二电容C2，第三滤波电路70包括第三电阻R3和第三电容C3；Wherein, the first filter circuit 50 includes a first resistor R1 and a first capacitor C1, the second filter circuit 60 includes a second resistor R2 and a second capacitor C2, and the third filter circuit 70 includes a third resistor R3 and a third capacitor C3;

第一电阻R1的第一端连接第一电容C1的第一端和第一通信节点10的接收端RX1，第一电容C1的第二端接地，第一电阻R1的第二端连接第一逻辑与门41的输出端413；The first end of the first resistor R1 is connected to the first end of the first capacitor C1 and the receiving end RX1 of the first communication node 10 , the second end of the first capacitor C1 is grounded, and the second end of the first resistor R1 is connected to the first logic The output terminal 413 of the AND gate 41;

第二电阻R2的第一端连接第二电容C2的第一端和第二通信节点20的接收端RX2，第二电容C2的第二端接地，第二电阻R2的第二端连接第一逻辑与门41的输出端413；The first end of the second resistor R2 is connected to the first end of the second capacitor C2 and the receiving end RX2 of the second communication node 20 , the second end of the second capacitor C2 is grounded, and the second end of the second resistor R2 is connected to the first logic The output terminal 413 of the AND gate 41;

第三电阻R3的第一端连接第三电容C3的第一端和第三通信节点30的接收端RX3，第三电容C3的第二端接地，第三电阻R3的第二端连接第三逻辑与门43的输出端433。The first end of the third resistor R3 is connected to the first end of the third capacitor C3 and the receiving end RX3 of the third communication node 30 , the second end of the third capacitor C3 is grounded, and the second end of the third resistor R3 is connected to the third logic The output terminal 433 of the AND gate 43 .

通信节点之间进行通信时，通信节点的接收端可能受到各种因素的干扰而很难接收到纯净的信号，第一滤波电路、第二滤波电路、第三滤波电路抗干扰性强，使得板内通信电路不仅可以实现通信节点之间的板内CAN通信，还可以减少通信节点的接收端可能收到的干扰信号，提高板内CAN通信的可靠性。When communicating between communication nodes, the receiving end of the communication node may be interfered by various factors and it is difficult to receive pure signals. The first filter circuit, the second filter circuit, and the third filter circuit have strong anti-interference, making the board The internal communication circuit can not only realize the intra-board CAN communication between the communication nodes, but also reduce the interference signals that may be received by the receiving end of the communication node, and improve the reliability of the intra-board CAN communication.

请参阅图5，图5是本申请实施例公开的一种板内通信装置的结构示意图。如图5所示，本实施例中所描述的板内通信装置100，包括第一通信节点10、第二通信节点20、第三通信节点30和上述图2或图3或图4所示的板内通信电路40。Please refer to FIG. 5 , which is a schematic structural diagram of an in-board communication device disclosed in an embodiment of the present application. As shown in FIG. 5 , the on-board communication device 100 described in this embodiment includes a first communication node 10 , a second communication node 20 , a third communication node 30 , and the above-mentioned ones shown in FIG. 2 or FIG. 3 or FIG. 4 . In-board communication circuit 40.

第一通信节点10的电源端VDD1连接第一辅助电源，第二通信节点20的电源端VDD2连接第二辅助电源，第三通信节点30的电源端VDD3连接第三辅助电源。可选的，第一辅助电源和第二辅助电源可以为同一辅助电压，第三辅助电压与第一辅助电源的供电电压不同。The power supply terminal VDD1 of the first communication node 10 is connected to the first auxiliary power supply, the power supply terminal VDD2 of the second communication node 20 is connected to the second auxiliary power supply, and the power supply terminal VDD3 of the third communication node 30 is connected to the third auxiliary power supply. Optionally, the first auxiliary power supply and the second auxiliary power supply may be the same auxiliary voltage, and the third auxiliary voltage is different from the power supply voltage of the first auxiliary power supply.

其中，第一通信节点10、第二通信节点20和第三通信节点30均可以包括微控制单元MCU和CAN控制器，MCU和CAN控制器为分离的元件。如图5所示，第一通信节点10包括MCU1和CAN控制器1，第二通信节点20包括MCU2和CAN控制器2，第三通信节点30包括MCU3和CAN控制器3。Wherein, the first communication node 10, the second communication node 20 and the third communication node 30 may all include a microcontroller unit MCU and a CAN controller, and the MCU and the CAN controller are separate components. As shown in FIG. 5 , the first communication node 10 includes MCU1 and CAN controller 1 , the second communication node 20 includes MCU2 and CAN controller 2 , and the third communication node 30 includes MCU3 and CAN controller 3 .

CAN控制器用于控制对应的通信节点根据CAN总线协议控制进行数据帧的发送和接收。The CAN controller is used to control the corresponding communication nodes to send and receive data frames according to the CAN bus protocol control.

本申请实施例中，微控制单元MCU和CAN控制器互相连接、协同工作，共同构成一个通信节点。板内通信装置中的三个通信节点通过板内通信电路实现板内CAN通信。In the embodiment of the present application, the micro-control unit MCU and the CAN controller are connected to each other and work together to form a communication node. The three communication nodes in the on-board communication device realize on-board CAN communication through the on-board communication circuit.

请参阅图6，图6是本申请实施例公开的另一种板内通信装置的结构示意图。如图6所示，本实施例中所描述的板内通信装置，包括第一通信节点10、第二通信节点20、第三通信节点30和上述图2或图3或图4所示的板内通信电路40。其中：Please refer to FIG. 6 , which is a schematic structural diagram of another in-board communication device disclosed in an embodiment of the present application. As shown in FIG. 6 , the intra-board communication device described in this embodiment includes a first communication node 10 , a second communication node 20 , a third communication node 30 and the above-mentioned board shown in FIG. 2 or FIG. 3 or FIG. 4 Internal communication circuit 40 . in:

第一通信节点10、第二通信节点20和第三通信节点30均包括微控制单元MCU，在微控制单元MCU内集成有CAN控制器。如图6所示，第一通信节点10包括MCU1，在MCU1内集成有CAN控制器1，第二通信节点20包括MCU2，在MCU2内集成有CAN控制器2，第三通信节点30包括MCU3，在MCU3内集成 有CAN控制器3。The first communication node 10, the second communication node 20 and the third communication node 30 all include a micro control unit MCU, and a CAN controller is integrated in the micro control unit MCU. As shown in FIG. 6 , the first communication node 10 includes MCU1, which integrates CAN controller 1 in MCU1, the second communication node 20 includes MCU2, which integrates CAN controller 2 in MCU2, and the third communication node 30 includes MCU3. A CAN controller 3 is integrated in the MCU3.

本申请实施例中，微控制单元MCU中集成有CAN控制器，微控制单元MCU可以直接构成一个通信节点。板内通信装置中的三个通信节点通过板内通信电路实现板内CAN通信。In the embodiment of the present application, a CAN controller is integrated in the micro-control unit MCU, and the micro-control unit MCU may directly constitute a communication node. The three communication nodes in the on-board communication device realize on-board CAN communication through the on-board communication circuit.

以上对本申请实施例所提供的一种基于CAN通信的板内通信电路及装置进行了详细介绍，本文中应用了具体个例对本申请的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本申请的方法及其核心思想；同时，对于本领域的一般技术人员，依据本申请的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本申请的限制。A CAN communication-based on-board communication circuit and device provided by the embodiments of the present application have been described in detail above. The principles and implementations of the present application are described with specific examples. The descriptions of the above embodiments are only used for In order to help understand the method of the present application and its core idea; at the same time, for those of ordinary skill in the art, according to the idea of the present application, there will be changes in the specific implementation and application scope. In summary, this specification The content should not be construed as a limitation on this application.

Claims (10)

1. 一种基于CAN通信的板内通信电路，所述板内通信电路用于实现第一通信节点、第二通信节点和第三通信节点之间的板内CAN通信，其特征在于，An intra-board communication circuit based on CAN communication, the intra-board communication circuit is used to realize intra-board CAN communication between a first communication node, a second communication node and a third communication node, characterized in that,

   所述第一通信节点的接地端和所述第二通信节点的接地端连接同一地线，所述第一通信节点的接地端和所述第三通信节点的接地端为不同地电平，所述第二通信节点的接地端和所述第三通信节点的接地端为不同地电平；所述第一通信节点的接收端连接所述第二通信节点的接收端；The ground terminal of the first communication node and the ground terminal of the second communication node are connected to the same ground wire, and the ground terminal of the first communication node and the ground terminal of the third communication node are at different ground levels, so The ground terminal of the second communication node and the ground terminal of the third communication node are at different ground levels; the receiving end of the first communication node is connected to the receiving end of the second communication node;

   所述板内通信电路的第一输入端连接所述第一通信节点的发送端，所述板内通信电路的第二输入端连接所述第二通信节点的发送端，所述板内通信电路的第三输入端连接所述第三通信节点的发送端；所述板内通信电路的第一输出端连接所述第一通信节点的接收端和所述第二通信节点的接收端，所述板内通信电路的第二输出端连接所述第三通信节点的接收端；The first input end of the in-board communication circuit is connected to the transmitting end of the first communication node, the second input end of the in-board communication circuit is connected to the transmitting end of the second communication node, and the in-board communication circuit is connected to the transmitting end of the second communication node. The third input end of the communication node is connected to the sending end of the third communication node; the first output end of the in-board communication circuit is connected to the receiving end of the first communication node and the receiving end of the second communication node, the The second output end of the in-board communication circuit is connected to the receiving end of the third communication node;

   在所述第一通信节点的发送端和/或所述第二通信节点的发送端和/或所述第三通信节点的发送端为低电平的情况下，所述第一通信节点的接收端、所述第二通信节点的接收端和所述第三通信节点的接收端为低电平；In the case that the transmitting end of the first communication node and/or the transmitting end of the second communication node and/or the transmitting end of the third communication node is at a low level, the receiving end of the first communication node terminal, the receiving terminal of the second communication node and the receiving terminal of the third communication node are low level;

   在所述第一通信节点的发送端、所述第二通信节点的发送端和所述第三通信节点的发送端均为高电平的情况下，所述第一通信节点的接收端、所述第二通信节点的接收端和所述第三通信节点的接收端为高电平；In the case that the transmitting end of the first communication node, the transmitting end of the second communication node and the transmitting end of the third communication node are all high level, the receiving end of the first communication node, the transmitting end of the third communication node The receiving end of the second communication node and the receiving end of the third communication node are at a high level;

   所述板内通信电路还用于隔离所述第一通信节点发送的CAN信号与所述第三通信节点发送的CAN信号，所述板内通信电路还用于隔离所述第二通信节点发送的CAN信号与所述第三通信节点发送的CAN信号。The in-board communication circuit is also used for isolating the CAN signal sent by the first communication node and the CAN signal sent by the third communication node, and the in-board communication circuit is also used for isolating the CAN signal sent by the second communication node. The CAN signal and the CAN signal sent by the third communication node.
2. 根据权利要求1所述的板内通信电路，其特征在于，所述板内通信电路包括第一逻辑与门、第二逻辑与门、第三逻辑与门和隔离电路；The on-board communication circuit according to claim 1, wherein the on-board communication circuit comprises a first logical AND gate, a second logical AND gate, a third logical AND gate and an isolation circuit;

   所述第一通信节点的发送端连接所述第二逻辑与门的第一输入端，所述第二通信节点的发送端连接所述第二逻辑与门的第二输入端，所述第一通信节点的接收端连接所述第一逻辑与门的输出端，所述第一逻辑与门的第一输入端连接所述隔离电路的第二输入端和所述第二逻辑与门的输出端，所述第一逻辑与门的第二输入端连接所述隔离电路的第一输出端，所述隔离电路的第一输入端 连接所述第三逻辑与门的第一输入端和所述第三通信节点的发送端，所述隔离电路的第二输出端连接所述第三逻辑与门的第二输入端，所述第三逻辑与门的输出端连接第三通信节点的接收端。The sending end of the first communication node is connected to the first input end of the second logic AND gate, the sending end of the second communication node is connected to the second input end of the second logic AND gate, and the first The receiving end of the communication node is connected to the output end of the first logic AND gate, and the first input end of the first logic AND gate is connected to the second input end of the isolation circuit and the output end of the second logic AND gate , the second input terminal of the first logical AND gate is connected to the first output terminal of the isolation circuit, and the first input terminal of the isolation circuit is connected to the first input terminal of the third logical AND gate and the first output terminal of the isolation circuit. The transmitting end of the three communication nodes, the second output end of the isolation circuit is connected to the second input end of the third logical AND gate, and the output end of the third logical AND gate is connected to the receiving end of the third communication node.
3. 根据权利要求2所述的板内通信电路，其特征在于，在所述第一通信节点的发送端和/或所述第二通信节点的发送端为低电平的情况下，所述第二逻辑与门的输出端为低电平，所述第一逻辑与门的输出端为低电平，使得所述第一通信节点的接收端和所述第二通信节点的接收端为低电平；所述隔离电路将所述隔离电路的第二输入端的低电平传输至所述隔离电路的第二输出端，所述第三逻辑与门的输出端为低电平，使得所述第三通信节点的接收端为低电平；The on-board communication circuit according to claim 2, characterized in that in the case that the transmitting end of the first communication node and/or the transmitting end of the second communication node is at a low level, the second communication node The output end of the logic AND gate is low level, and the output end of the first logic AND gate is low level, so that the receiving end of the first communication node and the receiving end of the second communication node are low level ; The isolation circuit transmits the low level of the second input terminal of the isolation circuit to the second output terminal of the isolation circuit, and the output terminal of the third logic AND gate is low level, so that the third The receiving end of the communication node is low level;

   在所述第三通信节点的发送端为低电平的情况下，所述第三逻辑与门的输出端为低电平，使得所述第三通信节点的接收端为低电平；所述隔离电路将所述隔离电路的第一输入端的低电平传输至所述隔离电路的第一输出端，所述第一逻辑与门的输出端为低电平，使得所述第一通信节点的接收端和所述第二通信节点的接收端为低电平。When the transmitting end of the third communication node is at a low level, the output end of the third logic AND gate is at a low level, so that the receiving end of the third communication node is at a low level; the The isolation circuit transmits the low level of the first input terminal of the isolation circuit to the first output terminal of the isolation circuit, and the output terminal of the first logic AND gate is low level, so that the first communication node has a low level. The receiving end and the receiving end of the second communication node are low level.
4. 根据权利要求2所述的板内通信电路，其特征在于，在所述第一通信节点的发送端、所述第二通信节点的发送端和所述第三通信节点的发送端为高电平的情况下，所述第二逻辑与门的输出端为高电平，所述隔离电路将所述隔离电路的第一输入端的高电平传输至所述隔离电路的第一输出端，所述隔离电路将所述隔离电路的第二输入端的高电平传输至所述隔离电路的第二输出端，所述第一逻辑与门的输出端为高电平，所述第三逻辑与门的输出端为高电平，使得所述第一通信节点的接收端、所述第二通信节点的接收端和所述第三通信节点的接收端为高电平。The on-board communication circuit according to claim 2, wherein the transmitting end of the first communication node, the transmitting end of the second communication node and the transmitting end of the third communication node are at a high level In the case where the output terminal of the second logic AND gate is at a high level, the isolation circuit transmits the high level of the first input terminal of the isolation circuit to the first output terminal of the isolation circuit, and the isolation circuit transmits the high level of the first input terminal of the isolation circuit to the first output terminal of the isolation circuit. The isolation circuit transmits the high level of the second input terminal of the isolation circuit to the second output terminal of the isolation circuit, the output terminal of the first logical AND gate is high level, and the third logical AND gate has a high level. The output terminal is at a high level, so that the receiving terminal of the first communication node, the receiving terminal of the second communication node and the receiving terminal of the third communication node are at a high level.
5. 根据权利要求2所述的板内通信电路，其特征在于，所述板内通信电路还包括第一滤波电路、第二滤波电路和第三滤波电路；所述第一滤波电路设置在所述第一通信节点的接收端和所述第一逻辑与门的输出端之间，所述第二滤波电路设置在所述第二通信节点的接收端和所述第一逻辑与门的输出端之间， 所述第三滤波电路设置在所述第三通信节点的接收端和所述第三逻辑与门的输出端之间。The intra-board communication circuit according to claim 2, wherein the intra-board communication circuit further comprises a first filter circuit, a second filter circuit and a third filter circuit; the first filter circuit is arranged in the first filter circuit. Between the receiving end of a communication node and the output end of the first logic AND gate, the second filter circuit is arranged between the receiving end of the second communication node and the output end of the first logic AND gate , the third filter circuit is arranged between the receiving end of the third communication node and the output end of the third logical AND gate.
6. 根据权利要求5所述的板内通信电路，其特征在于，所述第一滤波电路包括第一电阻和第一电容，所述第二滤波电路包括第二电阻和第二电容，所述第三滤波电路包括第三电阻和第三电容；The on-board communication circuit according to claim 5, wherein the first filter circuit includes a first resistor and a first capacitor, the second filter circuit includes a second resistor and a second capacitor, and the third filter circuit includes a second resistor and a second capacitor. The filter circuit includes a third resistor and a third capacitor;

   所述第一电阻的第一端连接所述第一电容的第一端和所述第一通信节点的接收端，所述第一电容的第二端接地，所述第一电阻的第二端连接所述第一逻辑与门的输出端；The first end of the first resistor is connected to the first end of the first capacitor and the receiving end of the first communication node, the second end of the first capacitor is grounded, and the second end of the first resistor connecting the output end of the first logic AND gate;

   所述第二电阻的第一端连接所述第二电容的第一端和所述第二通信节点的接收端，所述第二电容的第二端接地，所述第二电阻的第二端连接所述第一逻辑与门的输出端；The first end of the second resistor is connected to the first end of the second capacitor and the receiving end of the second communication node, the second end of the second capacitor is grounded, and the second end of the second resistor connecting the output end of the first logic AND gate;

   所述第三电阻的第一端连接所述第三电容的第一端和所述第三通信节点的接收端，所述第三电容的第二端接地，所述第三电阻的第二端连接所述第三逻辑与门的输出端。The first end of the third resistor is connected to the first end of the third capacitor and the receiving end of the third communication node, the second end of the third capacitor is grounded, and the second end of the third resistor The output terminal of the third logic AND gate is connected.
7. 根据权利要求2～6任一项所述的板内通信电路，其特征在于，所述隔离电路包括光耦合隔离芯片。The intra-board communication circuit according to any one of claims 2 to 6, wherein the isolation circuit comprises an optical coupling isolation chip.
8. 一种板内通信装置，其特征在于，所述板内通信装置包括第一通信节点、第二通信节点、第三通信节点和如权利要求1～7任一项所述的板内通信电路。An intra-board communication device, characterized in that the intra-board communication device comprises a first communication node, a second communication node, a third communication node and the intra-board communication circuit according to any one of claims 1 to 7.
9. 根据权利要求8所述的板内通信装置，其特征在于，所述第一通信节点、所述第二通信节点和所述第三通信节点均包括微控制单元和CAN控制器。The on-board communication device according to claim 8, wherein the first communication node, the second communication node and the third communication node all comprise a microcontroller unit and a CAN controller.
10. 根据权利要求8所述的板内通信装置，其特征在于，所述第一通信节点、所述第二通信节点和所述第三通信节点均包括微控制单元，所述微控制单元内集成有CAN控制器。The on-board communication device according to claim 8, wherein the first communication node, the second communication node and the third communication node all comprise a micro-control unit, and the micro-control unit is integrated with a CAN controller.

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