CN104639296B - A kind of CAN bus data fields method of calibration and system - Google Patents
A kind of CAN bus data fields method of calibration and system Download PDFInfo
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- CN104639296B CN104639296B CN201510091476.5A CN201510091476A CN104639296B CN 104639296 B CN104639296 B CN 104639296B CN 201510091476 A CN201510091476 A CN 201510091476A CN 104639296 B CN104639296 B CN 104639296B
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- 238000012937 correction Methods 0.000 claims description 3
- 125000004122 cyclic group Chemical group 0.000 abstract description 7
- 238000012545 processing Methods 0.000 abstract description 2
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- 230000000694 effects Effects 0.000 description 4
- 230000000295 complement effect Effects 0.000 description 2
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Classifications
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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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L1/00—Arrangements for detecting or preventing errors in the information received
- H04L1/0001—Systems modifying transmission characteristics according to link quality, e.g. power backoff
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L1/00—Arrangements for detecting or preventing errors in the information received
- H04L1/004—Arrangements for detecting or preventing errors in the information received by using forward error control
- H04L1/0056—Systems characterized by the type of code used
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L1/00—Arrangements for detecting or preventing errors in the information received
- H04L1/004—Arrangements for detecting or preventing errors in the information received by using forward error control
- H04L1/0056—Systems characterized by the type of code used
- H04L1/0061—Error detection codes
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- Quality & Reliability (AREA)
- Detection And Prevention Of Errors In Transmission (AREA)
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Abstract
The invention discloses a kind of CAN bus data fields method of calibration and system, belong to technical field of data processing.The CAN bus data fields method of calibration, including：Step S1：Receive the data frame that CAN bus is sent；Step S2：To the data in the data fields of the data frame do verification and；Step S3：Judge the verification and whether be equal to default verification and, if it is, being transferred to step S1；Step S4：The number for performing step S1 is counted, after the counts reach preset times, judges that the CAN bus data fields are effective.The CAN bus data fields method of calibration, by multiple cyclic check, can accurately verify the protocol data information in CAN bus data fields, so as to ensure the accurate reliability of CAN bus data fields information.
Description
Technical field
The present invention relates to technical field of data processing, more particularly to a kind of CAN bus data fields method of calibration and system.
Background technology
CAN bus (Controller Area Network, controller local area network) is fieldbus general in the world
One of, due to higher reliability, and it is widely used in industrial automation and vehicle electric field.In order to ensure CAN
The validity and reliability of bus data transfer information is, it is necessary to verify CAN bus data fields.Wherein, CAN bus data
Field information mainly includes：The data letter reached an agreement between conventional data message and vehicle factory and controller unit supplier
Breath.
In the prior art, generally use CRC (Cyclic Reduncy Check, cyclic redundancy check) is to CAN bus number
Verified according to data message conventional in field, then coordinate the mode of effective bit check, to the number reached an agreement in CAN bus data fields
It is believed that breath is verified.Specifically, CRC check is protected by carrying out full frames of data checking computations to each data frame frame head to postamble
Demonstrate,prove the accuracy of normal data information.And effective bit check, then using special increased significance bit come the data message to agreement
Verified, since effective bit check can only be verified once, so as to cause in the case where check bit malfunctions in itself, easily
Wagon control is carried out using error message, so as to cause whole vehicle functions not normal.
The content of the invention
, can be to CAN bus data fields an embodiment of the present invention provides a kind of CAN bus data fields method of calibration and system
In protocol data information accurately verified, so as to ensure the accurate reliability of CAN bus data fields information.
Technical solution provided in an embodiment of the present invention is as follows：
On the one hand, there is provided a kind of CAN bus data fields method of calibration, including：
Step S1：Receive the data frame that CAN bus is sent；
Step S2：To the data in the data fields of the data frame do verification and；
Step S3：Judge the verification and whether be equal to default verification and, if it is, being transferred to step S1；
Step S4：The number for performing step S1 is counted, after the counts reach preset times, judges institute
It is effective to state CAN bus data fields.
Preferably, if it is described verification and not equal to it is described it is default verification and, judge the CAN bus data fields without
Effect.
Preferably, after judging that the CAN bus data fields are invalid, further include：It is effective using being judged as in upper one circulation
CAN bus data fields substitute the CAN bus data fields that receive in this circulation.
Preferably, the CAN bus data fields include：Protocol data information bit, cycle count position and verification and position.
Preferably, the length of the CAN bus data fields is 8 bytes, wherein, the length of the protocol data information bit is
6.5 bytes, the length of the cycle count position is 0.5 byte, and the length of the verification and position is 1 byte.
On the other hand, there is provided a kind of CAN bus data fields check system, including：
Receiving module, for receiving the data frame of CAN bus transmission；
Correction verification module, for the data in the data fields to the data frame do verification and；
First judgment module, for judge the verification and whether be equal to default verification and；
Control module, for judging the verification and equal to the default verification with after in first judgment module, control
Make the receiving module and receive the data frame that CAN bus is sent；
Counting module, the number for receiving the data frame that CAN bus is sent to the receiving module count；
Second judgment module, for after the counts of the counting module reach preset times, judging that the CAN is total
Line data fields are effective.
Preferably, second judgment module, is additionally operable to judge the verification in first judgment module and is not equal to
The default verification judges that the CAN bus data fields are invalid with after.
Preferably, further include：Alternative module, for second judgment module judge the CAN bus data fields without
After effect, it is judged as that effective CAN bus data fields substitute the CAN bus data received in this circulation in being circulated using upper one
.
Preferably, the CAN bus data fields include：Protocol data information bit, cycle count position and verification and position.
Preferably, the length of the CAN bus data fields is 8 bytes, wherein, the length of the protocol data information bit is
6.5 bytes, the length of the cycle count position is 0.5 byte, and the length of the verification and position is 1 byte.
CAN bus data fields method of calibration and system provided in an embodiment of the present invention, are receiving the number of CAN bus transmission
After frame, the data fields in data frame are done with verification and is judging to verify and equal to default verification with the case of, circulation is more
Secondary execution data frame receipt, verification and judgment step, after execution number reaches preset times, judge that CAN bus data fields have
Effect, by multiple cyclic check, can accurately verify the protocol data information in CAN bus data fields, so as to ensure
The accurate reliability of CAN bus data fields information.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, drawings in the following description are only one described in the present invention
A little embodiments, for those of ordinary skill in the art, can also obtain other attached drawings according to these attached drawings.
Fig. 1 is a kind of flow chart of CAN bus data fields method of calibration provided in an embodiment of the present invention；
Fig. 2 is a kind of structure diagram of CAN bus data fields provided in an embodiment of the present invention；
Fig. 3 is the flow chart of second of CAN bus data fields method of calibration provided in an embodiment of the present invention；
Fig. 4 is the flow chart of the third CAN bus data fields method of calibration provided in an embodiment of the present invention；
Fig. 5 is a kind of structure diagram of CAN bus data fields check system provided in an embodiment of the present invention；
Fig. 6 is the structure diagram of another CAN bus data fields check system provided in an embodiment of the present invention.
Embodiment
In order to make those skilled in the art more fully understand the scheme of the embodiment of the present invention, below in conjunction with the accompanying drawings and implement
Mode is described in further detail the embodiment of the present invention.
As shown in Figure 1, CAN bus data fields method of calibration, comprises the following steps：
Step S1：Receive the data frame that CAN bus is sent.
Wherein, data frame is the protocol Data Unit of data link layer, including three parts：Frame head, data portion and postamble.
Wherein, frame head and postamble include some necessary control information, such as synchronizing information, address information, error control information etc.；Number
According to the data partly then handed down comprising network layer, such as ip data packets etc..Specifically, data portion includes：Arbitrate field, control
Field processed, data fields, CRC and response field, the data fields that present patent application emphasis is directed in data frame carry out data check.
Step S2：To the data in the data fields of data frame do verification and.
In embodiments of the present invention, the data message reached an agreement in CAN bus data fields is more bit architectures, is specifically included：Association
Data message position, cycle count position and verification and position are determined, as shown in Fig. 2, being a kind of CAN bus number provided in an embodiment of the present invention
According to the structure diagram of field, wherein, everybody distributing order can carry out any setting, adjustment according to being actually needed.
According to the characteristics of CAN bus data, minimum 0 byte of the length of data fields, is up to 64 bytes in data frame,
In the embodiment of the present invention, the length of preference data field uses 8 bytes, and correspondingly, the length of protocol data information bit is 6.5 words
Section, the length of cycle count position is 0.5 byte, and the length of verification and position is 1 byte.
Step S3：Judge verification and whether be equal to default verification and, if it is, being transferred to step S1.
In embodiments of the present invention, can be pre-set according to actual needs a verification and, such as 0 or 1, verifying
During, by the verification being calculated in step S2 and with the default verification and compared with, if verification and equal to default verification and,
It is considered that this CAN bus data fields verified is effective.After obtaining this and verifying effective result, execution is continued cycling through
Step S1-S3, so as to fulfill circulating to CAN bus data fields, repeatedly verifying, so that it is guaranteed that CAN bus data is accurate, reliable
Property.
Step S4：The number for performing step S1 is counted, after counts reach preset times, judges that CAN is total
Line data fields are effective.
In embodiments of the present invention, execution number that be to step S1 counts, and is transmitted according to CAN bus
The accuracy requirement of data, pre-sets cycle-index (preset times), wherein, cycle-index can be according to actual needs for example
It is arranged to 8 times, 16 times, 24 inferior arbitrary values.After the execution number counted reaches preset times (such as being arranged to 16 times),
Think by continuous 16 times verification, CAN bus data fields are all effective, it is therefore contemplated that the data reliability transmitted by CAN bus compared with
Height, which is finally determined as effectively.
Since the data that CAN bus is transmitted are usually to be related to the data of vehicle safety or important vehicle functions, important journey
Degree is higher.For example, collision alarm (being related to collision oil-break, car door automatic unlocking function), wheel speed signal (is related to electrical steering power-assisted
The function of output torque size), electronic parking working signal (being related to gearbox torque control function) etc., therefore, to these letters
Number transmission accuracy and reliability to propose high requirement.
As shown in figure 3, in checking procedure first, or during cyclic check, if there is verification and not equal to pre-
If verify and then perform step S5：Judge that CAN bus data fields are invalid, that is, in data fields checking procedure, once occur
Verification and with it is default verification and unequal situation, it is invalid to be just directly judged as data fields, so as to farthest protect
Demonstrate,prove the accuracy and reliability of data transfer.
As shown in figure 4, after judging that CAN bus data fields are invalid, step S6 is further included：It is judged as in being circulated using upper one
Effective CAN bus data fields substitute the CAN bus data fields received in this circulation.Verified using the CAN bus data fields
Method, judge CAN bus data occur mistake in the case of, vehicle can not be subsequently controlled in order to prevent, pass through by
It is judged as that effective CAN bus data fields substitute the CAN bus data fields received in this circulation in a upper circulation, can continue to
Realize the control to vehicle, further lift reliability.
Below by taking the CAN bus data fields shown in Fig. 2 as an example, the checking procedure of data fields is introduced.
CAN bus data fields in Fig. 2 are Byte0~Byte7 from low byte to high byte, wherein, Byte1's is 4 high
And Byte2~Byte7 is protocol data information bit, low 4 of Byte1 are cycle count (RollingCounter) position,
Byte0 is verification and (CheckSum) position.MSB (Most Significant Bit) refers to highest significant position, LSB (Least
Significant Bit) least significant bit, data transmission carried out successively from MSB to LSB.Specifically, cycle count position is 42
System number, represents the decimal system 0~15, and when the data frame is sent for the first time, the value of cycle count position is 0, when sending for the second time,
The value of cycle count position is 1, and so on, it is 15 that the 16th time, which sends duration, this is a circulation, when sending for 17 times, circulation
The value of meter digital resets to 0, starts second and circulates.
For ease of calculating, this seven bytes of Byte7 can will be verified and position Byte0 are arranged to Byte1, Byte2 ... in advance
Complement code (Byte1, Byte2 ... Byte7 are negated again plus 1 obtain complement code), and only take first 8, the whole outside 8 positions
Give up, then it is 0 to preset verification and " Byte0+Byte1+ ...+Byte7 ".Therefore, will when receiving CAN bus data frame
The numerical value of Byte0~Byte7 is added successively, if trying to achieve and for 0, judges that the data fields of this reception are effective.Circulation performs
After one cycle period, the summed result (numerical value of Byte0~Byte7 is added successively) of 16 data frames is obtained, if according to suitable
Sequence receives 16 data frames of one complete 0~15, and summed result all 0, then finally judges that the data fields have
Effect.
CAN bus data fields method of calibration provided in an embodiment of the present invention, is receiving the data frame of CAN bus transmission
Afterwards, the data fields in data frame are done with verification and is judging to verify and equal to default verification with the case of, circulation is repeatedly held
Row data frame receipt, verification and judgment step, after execution number reaches preset times, judge that CAN bus data fields are effective, lead to
Multiple cyclic check is crossed, the protocol data information in CAN bus data fields can accurately be verified, so as to ensure that CAN is total
The accurate reliability of line data fields information.
Correspondingly, the embodiment of the present invention additionally provides a kind of CAN bus data fields check system, as shown in figure 5, including：
Receiving module 101, for receiving the data frame of CAN bus transmission；
Correction verification module 102, for the data in the data fields to data frame do verification and；
First judgment module 103, for judge verification and whether be equal to default verification and；
Control module 104, for judging verification and equal to default verification with after in the first judgment module, control receiver module
101 receive the data frame that CAN bus is sent；
Counting module 105, the number for receiving the data frame that CAN bus is sent to receiving module 101 count；
Second judgment module 106, for after the counts of counting module 105 reach preset times, judging the CAN
Bus data field is effective.
As shown in figure 5, the second judgment module 106, is additionally operable to judge verification and not equal to described in the first judgment module 103
Default verification judges that CAN bus data fields are invalid with after.
As shown in fig. 6, above-mentioned CAN bus data fields check system further includes：
Alternative module 107, for after the second judgment module 106 judges that CAN bus data fields are invalid, being circulated using upper one
In be judged as that effective CAN bus data fields substitute the CAN bus data fields that receive in this circulation.
Wherein, above-mentioned CAN bus data fields include：Protocol data information bit, cycle count position and verification and position.
Preferably, the length of above-mentioned CAN bus data fields is 3~8 bytes, wherein, the length of the protocol data information bit
Spend for 1~6 byte, the length of the cycle count position is 1 byte, and the length of the verification and position is 1 byte.
CAN bus data fields check system provided in an embodiment of the present invention, is receiving the data frame of CAN bus transmission
Afterwards, the data fields in data frame are done with verification and is judging to verify and equal to default verification with the case of, circulation is repeatedly held
Row data frame receipt, verification and judgment step, after execution number reaches preset times, judge that CAN bus data fields are effective, lead to
Multiple cyclic check is crossed, the protocol data information in CAN bus data fields can accurately be verified, so as to ensure that CAN is total
The accurate reliability of line data fields information.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent replacement, improvement and so on, should all be included in the protection scope of the present invention.
Claims (10)
- A kind of 1. CAN bus data fields method of calibration applied on vehicle, it is characterised in that including：Step S1：Receive the data frame that CAN bus is sent；Step S2：To the data in the data fields of the data frame do verification and；Step S3：Judge the verification and whether be equal to default verification and, if it is, being transferred to step S1；Step S4：The number for performing step S1 is counted, after the counts reach preset times, judges that CAN is total Line data fields are effective.
- 2. CAN bus data fields method of calibration according to claim 1, it is characterised in that：If described verify and differ In it is described it is default verification and, then judge that CAN bus data fields are invalid.
- 3. CAN bus data fields method of calibration according to claim 2, it is characterised in that judging CAN bus data fields After invalid, further include：It is judged as that effective CAN bus data fields substitute the CAN received in this circulation in being circulated using upper one Bus data field.
- 4. CAN bus data fields method of calibration according to claim 3, it is characterised in that the CAN bus data fields bag Include：Protocol data information bit, cycle count position and verification and position.
- 5. CAN bus data fields method of calibration according to claim 4, it is characterised in that：The CAN bus data fields Length is 8 bytes, wherein, the length of the protocol data information bit is 6.5 bytes, and the length of the cycle count position is 0.5 The length of byte, the verification and position is 1 byte.
- A kind of 6. CAN bus data fields check system applied on vehicle, it is characterised in that including：Receiving module, for receiving the data frame of CAN bus transmission；Correction verification module, for the data in the data fields to the data frame do verification and；First judgment module, for judge the verification and whether be equal to default verification and；Control module, for judging the verification and equal to the default verification with after in first judgment module, controls institute State receiving module and receive the data frame that CAN bus is sent；Counting module, the number for receiving the data frame that CAN bus is sent to the receiving module count；Second judgment module, for after the counts of the counting module reach preset times, judging CAN bus data fields Effectively.
- 7. CAN bus data fields check system according to claim 6, it is characterised in that：Second judgment module, is additionally operable to judge the verification and not equal to the default verification in first judgment module With it is rear, judge that CAN bus data fields are invalid.
- 8. CAN bus data fields check system according to claim 7, it is characterised in that further include：Alternative module, for after second judgment module judges that CAN bus data fields are invalid, judging in being circulated using upper one The CAN bus data fields received in this circulation are substituted for effective CAN bus data fields.
- 9. CAN bus data fields check system according to claim 6, it is characterised in that：The CAN bus data fields bag Include：Protocol data information bit, cycle count position and verification and position.
- 10. CAN bus data fields check system according to claim 9, it is characterised in that：The CAN bus data fields Length be 8 bytes, wherein, the length of the protocol data information bit is 6.5 bytes, and the length of the cycle count position is The length of 0.5 byte, the verification and position is 1 byte.
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| CN106533622B (en) * | 2016-11-17 | 2019-06-04 | 安徽江淮汽车集团股份有限公司 | The data fields method of calibration and device of data frame based on CAN FD bus |
| CN111308919B (en) * | 2018-12-12 | 2021-07-27 | 广州汽车集团股份有限公司 | Wheel speed signal transmission method, device, terminal and computer-readable storage medium |
| CN110198202B (en) * | 2019-06-03 | 2022-01-28 | 北京润科通用技术有限公司 | Method and device for checking AFDX (avionics full Duplex switched Ethernet) bus message data source |
| CN110399751B (en) * | 2019-07-04 | 2021-06-29 | 苏州浪潮智能科技有限公司 | Data transmission method and system |
| CN112003773A (en) * | 2020-07-15 | 2020-11-27 | 东风汽车集团有限公司 | End-to-end checking method and system for CAN bus safety data |
| CN114200908B (en) * | 2021-11-08 | 2025-02-28 | 杭州阔博科技有限公司 | Device installation verification method and terminal |
| CN115277286B (en) * | 2022-06-10 | 2023-12-12 | 智己汽车科技有限公司 | CAN bus communication method |
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| CN1190090C (en) * | 2002-01-21 | 2005-02-16 | 华为技术有限公司 | Method for judging phonetic frame effectiveness and correctness |
| CN100397839C (en) * | 2004-11-26 | 2008-06-25 | 浙江中科正方电子技术有限公司 | Vehicle body CAN bus controlling system |
| CN101764730B (en) * | 2009-12-18 | 2011-12-21 | 航天东方红卫星有限公司 | CAN bus data transmission method |
| US9432289B2 (en) * | 2011-04-26 | 2016-08-30 | Robert Bosch Gmbh | Method and device for serial data transmission which is adapted to memory sizes |
| CN103516462B (en) * | 2012-06-15 | 2016-08-17 | 华锐风电科技(集团)股份有限公司 | A kind of non-standard Canopen is from the Frame sending method of node and device |
| CN103514128A (en) * | 2012-06-15 | 2014-01-15 | 广州汽车集团股份有限公司 | Method and device for bus signal transmission and receiving |
| CN103634150B (en) * | 2013-12-03 | 2016-08-17 | 合肥工大高科信息科技股份有限公司 | A kind of high security CAN communication means of redundancy |
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