CN107786402A - The TTCAN communication control systems of TTCAN communication controls module and vehicle - Google Patents
The TTCAN communication control systems of TTCAN communication controls module and vehicle Download PDFInfo
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- CN107786402A CN107786402A CN201610791937.4A CN201610791937A CN107786402A CN 107786402 A CN107786402 A CN 107786402A CN 201610791937 A CN201610791937 A CN 201610791937A CN 107786402 A CN107786402 A CN 107786402A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40006—Architecture of a communication node
- H04L12/40013—Details regarding a bus controller
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40006—Architecture of a communication node
- H04L12/40032—Details regarding a bus interface enhancer
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40143—Bus networks involving priority mechanisms
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Small-Scale Networks (AREA)
- Synchronisation In Digital Transmission Systems (AREA)
Abstract
A kind of TTCAN communication controls module, including：CPU, interface module, and time cycle control element；Wherein：CPU distinguishes Connection Time periodic Control element and interface module；Time cycle control element is used to periodically send the external timing signal to CPU, sequential trigger signal trigger events of the CPU using the external timing signal as CPU time periodic scheduling table, and data exchange is carried out by interface module and CAN and system equipment.
Description
Technical field
The invention belongs to technical field of information communication, and in particular to a kind of TTCAN by external hardware time triggered is controlled
Communication module.
Background technology
Agreement based on event triggered fashion mainly includes the CAN (Controller formulated by German Bosch companies
Area Network) bus and its agreement.All activities are all but the productions of event as caused by the generation of event in network
Life is random, accidental, and it is unpredictable when to have an event triggering, and this just likely results in the event in network
Between clash.CAN is exactly a communication bus based on event-triggered protocols.
More and more higher is required with the security performance of vehicle, using time triggering mode as core, it is proposed that new bus and
Agreement, wherein three kinds of representative buses and agreement are respectively：Time-Triggered CAN (TTCAN), TTP and
FlexRay.Agreement based on time triggering mode is caused based on time triggered structure.All nodes are according to time synchronized
Change, each on network activity stamped time mark.The timetable that task in system is formulated before according to work
Corresponding bus time is distributed, therefore, in the bus network using time triggering mode communication, node is all according in advance
The static scheduling time table (also known as matrix cycle) of formulation completes task, and static schedule is downloaded to the controller of each node
In, the branch system of communication system need to only be aware of when to transmit a piece of news and when a piece of news in bus is to oneself
It is useful.One of major advantage of time triggered structure is flexible combination ability, and this causes one new being partially integrated into
The test to new part can be reduced when in system, key factor when this is the design system harsh to security requirement.
Relatively conventional CAN protocol, TTCAN have real-time height, good reliability, and data volume is big, avoids bus congestion, greatly improves net
The features such as network utilization rate.
At present, the timing mode that TTCAN bus communications generally use is the node after host node timed message is received
When CPU sets a Special timer clock generation Interruption pair, data communication task is completed by default matrix periodic table.
But the communication modes too rely on host node and easily produce synchronization failure, and each system equipment CPU clock frequency is present
Error, it is impossible to accomplish global all unifications, time drift causes synchronous error excessive, while increases at each node cpu of network
Manage the burden of data outage.
The content of the invention
For above-mentioned problems of the prior art, the technical problem to be solved in the present invention is：How TTCAN is solved total
Line too relies on host node and easily produces synchronization failure, and time drift causes synchronous error excessive.
Host node is too relied in order to solve TTCAN buses and easily produces synchronization failure, time drift causes synchronous error
Excessive, the present invention proposes a kind of time cycle control element, and it includes：
Including：Counter, and the state machine containing programmable n status information；Wherein, state machine is with counter
Count every time and change status information coding successively, and the status information is sequentially output by output end (SB0) and encoded to CPU.
Further, the state machine also includes the phase machine containing 4 phase information codings, and passes through another output end
(SB1) phase information is sequentially output to encode to CPU.
Further, the status information coding forms the external timing signal with the programmable n cycle.
Further, the status information coding and phase information coding form the external timing signal with n*4 cycle
The invention also provides a kind of TTCAN communication controls module, it is characterised in that including：CPU, interface module, and
According to above-mentioned time cycle control element；Wherein：CPU distinguishes Connection Time periodic Control element and interface module；Week time
Phase control element is used to periodically send the external timing signal to CPU, and CPU is using the external timing signal as during CPU
Between periodic scheduling table sequential trigger signal trigger event, and pass through interface module and CAN and system equipment carries out data
Exchange.
The invention also provides a kind of TTCAN communication control systems of vehicle, including CAN network, several system equipments with
And with the one-to-one several described TTCAN communication control modules of the system equipment；Wherein, several described TTCAN controls
Communication module processed all uses identical time cycle control element, and provides the external timing signal of same period；The system
Equipment is connected by TTCAN communication control modules with CAN network, forms TTCAN communication networks.
The invention also provides a kind of control network global time cycle of the TTCAN communication control systems of vehicle and part
The method of time cycle, it is characterised in that comprise the following steps：
(1) CPU of the time cycle control element of all communication control modules into module sends same period
External timing signal；
(2) in the specific period, automatically sent and resetted to CAN network from one of them of several communication control modules
Signal, so as to initialize the time cycle control element of all communication control modules, so that unified all transmissions are to CPU's
External timing signal；
(3) one of in several system equipments initializes, or the situation of addition new system equipment
Under, the TTCAN communication control module corresponding with the system equipment sends reset signal to CAN network, so as to all controls
The time cycle control element of communication module resets, so as to the external timing signal of unified all transmissions to CPU；
Repeat step (1) to (3).
The module sends periodicity cadence signal using external time periodic Control element and controls network complete to TTCAN networks
Office's time cycle and local time cycle, time drift caused by TTCAN network nodes is substantially eliminated, because time synchronized is complete
Controlled by external hardware element, therefore, the influence of the network time synchronization not running status of master node.
Brief description of the drawings
Fig. 1 is the module connection figure of the TTCAN communication control modules of the present invention；
Fig. 2 is the time division state figure of the TTCAN communication control modules of the present invention；
Fig. 3 is the TTCAN communication control module network topological diagrams of the present invention.
Embodiment
Referring to Fig. 1, for the module connection figure of the TTCAN communication control modules of the present invention.It includes：CPU, interface module,
And time cycle control element.CPU distinguishes Connection Time periodic Control element and interface module；CPU by interface module with
CAN and system equipment carry out data exchange.
The configuration of interface module is as follows：
1) module CAN port：The two-way CAN controller as built in module CPU connects two outside isolated form CAN driver groups
Into can provide broader data bandwidth when two-way CAN is used alone, can also be used in combination and backup each other.
2) SPI communication ports：Two-way SPI communication ports built in module CPU, it can be led to by SPI communication ports with Upper system CPU
News exchange message, are then sent through CAN mouths.Two-way SPI can be used alone, and can also use and the mode of backuping each other is used in combination.
3) RS232 communication ports：Two-way RS232 communication ports (LVTTL level), passes through RS232 communication ports built in module CPU
CAN mouths can be then sent through with Upper system CPU communications exchange message.Same two-way RS232 can be used alone, can also
Joint SPI mouths use.
4) I/O input-output lines：It can be used for and Upper system CPU is used as to shake hands.
The TTCAN communication controls module using specific external time periodic Control element send periodicity cadence signal to
CPU, so as to control network global time cycle and local time cycle.
As a preferred embodiment, the periodic timing trigger signal of the external time periodic Control element is by 16
Period of state output line and phase output line composition in 2 cycles, maximum can form 16*4=64 local time's cycle.
The external time periodic Control element mainly by counter and state machine into.
As schematical embodiment, present invention employs module down counter：Down counter is by 24 d type flip flop groups
Into when module resets, down counter is preset frequency dividing constant n.During work, a pulse is often inputted, down counter subtracts one, when
Output state trigger signal when calculator is reduced to 0, is often triggered once, and module status machine enters next state.
State machine uses 16 finite state machines, 16 bar state output lines：
State table：
Above-mentioned 16 states are exported by SB0 pins.
As the presently preferred embodiments, the external time periodic Control element also includes two phase output lines, forms 4 phases
Information.
16 states above, each period of state are divided into the parts such as 4 phases：
Above-mentioned 4 states are exported by pin SB1.Thus, 16*4=64 local time is formed to export in the cycle to CPU (ginsengs
See Fig. 2).
Output line TINT：It is the wide positive pulse of several microseconds that a width is sent during each State Transferring, and the signal can conduct
The markers of global synchronization is tested, can also be as the interrupt request singal or latch signal for giving CPU.
The TTCAN communication controls module sends periodicity cadence signal using external time periodic Control element and controlled to CPU
Network global time cycle processed and local time cycle.Periodic timing trigger signal has 16 bar state cycle output lines and 2
Phase output line forms in cycle, and maximum can form 16*4=64 local time's cycle, all be used when on a network
During the TTCAN communication control modules because each module has a clock of unified parameters, each module Uniting it is complete by hardware
The identical length of a game's cycle and local time cycle of control, therefore time drift can be ignored caused by intermodule.Separately
Outside, the length of a game of bus network and subcycle time are controlled by external hardware element completely, therefore, network time synchronization not by
The influence of the running status of host node.
Presently describe the course of work of external time periodic Control element：
Module internal reset after system electrification, the input line RST# of time cycle control element, synchronous input line ST#, this
Two lines are connected respectively to electro-detection in module and resetted, synchronous input end.When it is low level that this two pins, which wherein have one,
State machine enters state 0 and initializes Clock dividers.After reset or synchronization, state machine output line output 0,000 0000
0000 0001 phase output line outputs simultaneously are 00, and output line TINT outputs are 0.When simultaneously RST#, ST# line are opened for height, module
Beginning work.State output line, phase line, the periodic output pulse signal of inside modules TINT lines.
After CPU receives above-mentioned local time's periodic signal, signal is identified, and by the sequential in round-robin scheduling table
Sequencing data frame transmits to local time's cycle, that is, realizes TTCAN network schedulings in order.
In the case that multimode networks work, reset circuit is typically triggered by house dog in circuit, each chip
TINT lines output pulsion phase illustrates the situation of each RST# inputs time delay to the time difference, and ST# lines input a negative arteries and veins
After punching, the TINT lines output pulsion phase of each inside modules just disappears substantially to the time difference, reaches multimode networking synchronization
Purpose.
Be the TTCAN communication control systems of vehicle referring to Fig. 3, including CAN network, several system equipments and with it is described
System equipment several TTCAN communication controls modules correspondingly；Wherein, all TTCAN communication controls modules all use phase
Same time cycle control element, and the external timing signal of same period is provided；The system equipment is controlled logical by TTCAN
News module is connected with CAN network, forms TTCAN communication networks.
In normal operation, TTCAN communication controls module can be in the specific period, by several communication control modules
One of them automatically to CAN network send reset signal, so as to initialize the time of all communication control modules week
Phase control element, so as to the external timing signal of unified all transmissions to CPU.Can automatically it be divided by cycle period dispatch list
With some module above-mentioned reset signal is sent in the specific period.
Meanwhile CPU can monitor the specific ID message frame transmitted on identification network according to specific time sequence trigger signal, work as discovery
The message frame time beat is abnormal, when device power resets, the network operation when put into an equipment at any time again, then network needs
Resynchronisation, at this moment only needs just make network reach global synchronization to one negative pulse of ST# lines of time cycle control element.
The negative pulse can be by different distributed modules (passing through software) according to module working condition (whether effectively), automatically
Applied by some module, or (hardware) directly applies from bus.
The watchdog reset when certain equipment is run, CPU are restarted, and the total of outside can't be caused by this moment being restarted due to CPU
Line time triggered synchronous element resets, thus CPU rework after can need not re-recognize the outside sequential triggering cycle.
The system is modular construction, easily realizes when forming network and is designed since top, module is only responsible for
Communication, it is unrelated with the use function of part of appliance.
When on the network of TTCAN communication control systems all using the TTCAN communication control modules when because each module
There is a clock of unified parameters, each module Uniting and completely by identical length of a game's cycle of hardware controls and local time's week
Phase, therefore time drift can be ignored caused by intermodule.The markers output line of module as state latch signal or in
Disconnected trigger signal gives communication CPU, represents the beginning in local time's cycle, can also be in module as a test markers
Signal, time delay between test module, the time delay reflect the performance of module global synchronization in network communication.With hard
Part method time delay is less than 2 clock pulses, and send module time caused by Signalling method from bus with communication CPU (software)
Delay should be less than a CAN positions time.
The TTCAN networks of structure, which solve bus and too rely on host node, easily produces synchronization failure, and time drift causes
The problems such as synchronous error is excessive.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the scope of the present invention.It is all
Any modification, equivalent substitution and improvements made within the spirit and principles in the present invention etc., are all contained in protection scope of the present invention
It is interior.
Claims (12)
- A kind of 1. time cycle control element, it is characterised in that including：Counter, and contain programmable n status information State machine；Wherein, state machine encodes as each counting of counter changes status information successively, and passes through output end (SB0) The status information is sequentially output to encode to CPU.
- 2. time cycle control element according to claim 1, it is characterised in that the state machine also includes containing 4 The phase machine of phase information coding, and the phase information is sequentially output by another output end (SB1) and encoded to CPU.
- 3. time cycle control element according to claim 1, it is characterised in that the status information coding composition has The external timing signal in programmable n cycle.
- 4. time cycle control element according to claim 2, it is characterised in that the status information coding and phase letter Breath coding forms the external timing signal with n*4 cycle.
- A kind of 5. TTCAN communication controls module, it is characterised in that including：CPU, interface module, and according to Claims 1-4 Time cycle control element described in middle any one；Wherein：CPU distinguishes Connection Time periodic Control element and interface module； Time cycle control element is used to periodically send the external timing signal to CPU, CPU using the external timing signal as The sequential trigger signal trigger event of CPU time periodic scheduling table, and carried out by interface module and CAN and system equipment Data exchange.
- 6. TTCAN communication controls module according to claim 5, it is characterised in that the interface module includes at least one Individual CAN port, the I/O ports of more than 2, and at least one SPI communication ports and/or at least one RS232 communication ports.
- 7. a kind of TTCAN communication control systems of vehicle, including CAN network, several system equipments and with the system equipment One-to-one several TTCAN communication control modules according to claim 5 or 6；Wherein, several described TTCAN controls Communication module processed all uses identical time cycle control element, and provides the external timing signal of same period；The system Equipment is connected by TTCAN communication control modules with CAN network, forms TTCAN communication networks.
- 8. the TTCAN communication control systems of vehicle according to claim 7, it is characterised in that the TTCAN communication controls Module carries out data exchange by least one SPI communication ports and/or at least one RS232 communication ports with system equipment.
- 9. the TTCAN communication control systems of vehicle according to claim 7, it is characterised in that all TTCAN controls The time cycle control element of communication module receives unified reset signal in the specific period, all so as to initialize The time cycle control element of TTCAN communication control modules, so as to the external timing signal of unified all transmissions to CPU.
- 10. the TTCAN communication control systems of vehicle according to claim 9, it is characterised in that the reset signal is by counting One of them in individual TTCAN communication controls module is automatically sent in the specific period.
- 11. the TTCAN communication control systems of vehicle according to claim 7, it is characterised in that set in several systems In the case that one of appearance in standby initializes or added new system equipment, the TTCAN corresponding with the system equipment Communication control module sends reset signal to CAN network, so as to initialize the week time of all TTCAN communication controls modules Phase control element, so as to the external timing signal of unified all transmissions to CPU.
- A kind of 12. control network of the TTCAN communication control systems of vehicle based on described in any one in claim 7 to 11 Length of a game's cycle and the method for local time cycle, it is characterised in that comprise the following steps：(1) CPU of the time cycle control element of all communication control modules into module sends the outside of same period Clock signal；(2) in the specific period, automatically sent from one of them of several communication control modules to CAN network and reset letter Number, so as to initialize the time cycle control element of all communication control modules, sent so that unification is all to outside CPU Portion's clock signal；(3) one of in several system equipments initializes, or in the case of addition new system equipment, with The corresponding TTCAN communication controls module of the system equipment sends reset signal to CAN network, so as to all communication control moulds The time cycle control element of block resets, so as to the external timing signal of unified all transmissions to CPU；Repeat step (1) to (3).
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