CN116633968A - Industrial control system and method based on FPGA - Google Patents
Industrial control system and method based on FPGA Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- H—ELECTRICITY
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- 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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
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- H04L69/30—Definitions, standards or architectural aspects of layered protocol stacks
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- H—ELECTRICITY
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- 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
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
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Abstract
The invention relates to an industrial control system and method based on FPGA, the system includes FPGA and interface module, the FPGA includes TCP/IP module, modbus TCP protocol stack module, data up-down control module, modbus gateway module, RS485 module, USART module, CAN module, I2C module, SPI module and GPIO module, RS485 interface CAN mount common peripheral equipment, CAN mount slave device with modbus rtu communication protocol, make RS485 interface of the industrial control system multiplexing, compatibility is stronger. In order to adapt to the control application of industrial products with more and more devices and greater complexity, the bus interfaces and GPIO ports are expanded as much as possible under the condition of the permission of FPGA chip resources, so as to adapt to the application scene of more equipment to be mounted, and the expandability and flexibility of a control system are improved.
Description
Technical Field
The invention relates to the technical field of FPGA (Field Programmable Gate Array ), in particular to an industrial control system and method based on FPGA.
Background
In recent years, along with the development of the technology of the Internet of things and the proposal of industrial intelligence, the complexity of products is higher and higher; meanwhile, in order to effectively monitor and control products, the industrial field also puts higher demands on flexibility, stability, high-speed performance, expansibility and compatibility of a control system. Therefore, the development of the industrial control system with rich interfaces, strong expansibility, good compatibility and high speed has extremely important significance.
The twenty-ninth institute of China electronic technology group company discloses a multifunctional control box based on an FPGA in a multifunctional control box and detection system based on the FPGA (CN 202210598506.1). The multifunctional control box includes: the FPGA is used for completing the analysis of communication protocols of various bus interfaces and the control and forwarding of commands; generating a control signal according to an input instruction, and detecting and analyzing an input detection signal; providing bus interfaces to the outside, wherein the bus interfaces comprise a TCP/IP network interface, an RS232 serial port, an RS422 bus, an I2C bus interface, a CAN bus interface, an SPI bus interface, an LVDS bus interface and an MLVDS bus interface; each bus interface is connected with the FPGA through a corresponding driving circuit. The input signal level matching circuit and the output signal driving circuit are respectively connected with the FPGA; the input signal level matching circuit is used for inputting detection signals, and the output signal driving circuit is used for outputting control signals. Further, the multifunctional control box is provided with a touch screen for touch control and display functions. Further, the multifunctional control box is provided with a dial switch, and a dial switch control function is provided. Furthermore, the multifunctional control box receives multiple control modes to realize hybrid control, can set the priority of the multiple control modes according to requirements, and sequentially receives control commands according to the priority. Further, the control signal includes a high-low level signal, a pulse signal and a timing related signal. The invention also provides a detection system of the multifunctional control box based on the FPGA, which comprises: the host computer is internally provided with upper computer software, a serial port and a network port are externally provided, and the multifunctional control box is connected with the serial port of the upper computer through an RS232 serial port; the network port is connected with the network port of the upper computer through a TCP/IP network port; the device is connected with a CAN bus interface of a product to be tested through the CAN bus interface and connected with an LVDS bus interface of the product to be tested through the LVDS bus interface; the output state signal interface is connected with the output state signal interface of the product to be tested through the input signal detection interface; the output signal control interface is connected with an output state signal interface of the product to be tested; the product to be tested is externally provided with a CAN bus interface, an LVDS bus interface, an output state signal interface and a level control signal interface. Further, the FPGA in the multifunctional control box communicates with the host through an RS232 serial port or a TCP/IP network port, receives a control command issued by the control computer, and forwards the control command to the CAN bus interface and the LVDS bus interface of the product to be tested respectively through the CAN bus interface and the LVDS bus interface according to the received control command. Further, the FPGA of the multifunctional control box sends an output control signal to a level control signal interface of a product to be tested through an output control signal interface through logic programming, the FPGA detects a level signal and a pulse signal of an output state signal interface of the product to be tested through an input detection signal interface, and a signal detection analysis result is reported to a host through an RS232 serial port or a TCP/IP network port. Further, the working process of the detection system is as follows: step 1, a multifunctional control box receives a control command and forwards the control command to a product to be tested through a bus interface; step 2, the multifunctional control box generates a control signal according to the received control command and outputs the control signal to a product to be tested; step 3, outputting a state signal of the product to be detected to a multifunctional control box, and detecting and analyzing the state signal by the multifunctional control box through an FPGA; and step 4, the multifunctional control box reports the detection analysis result to the host through the bus interface.
However, drawbacks of existing FPGAs include: 1. the number of mountable peripherals of the interface is small, the expansibility is not strong, and the flexibility is not enough: the number of interfaces is small, only one path of each interface is available, and the method is not suitable for application scenes in which more devices need to be mounted; when input signal detection and control signal output are performed, effective expansion cannot be performed when a plurality of output and input signals are required to be operated due to the fact that pins are fewer, and flexibility is insufficient. 2. The interface is not capable of multiplexing: in the field of industrial control, slave devices communicating through a modbus rtu protocol are more common and are more RS485/RS232 interfaces, the RS232 interface in the prior art can only be connected with common peripheral equipment with the RS232 interface, but cannot be compatible with the slave devices with the communication protocol of modbus rtu and the RS232 interface, and the interfaces cannot be multiplexed and are poor in compatibility.
Disclosure of Invention
In view of this, in order to solve the existing technical problems, the present invention provides an industrial control system and method based on FPGA.
An industrial control system based on an FPGA comprises the FPGA and an interface module, wherein the FPGA comprises a TCP/IP module, a modbus TCP protocol stack module, a data uplink and downlink control module, a modbus gateway module, an RS485 module, a USART module, a CAN module, an I2C module, an SPI module and a GPIO module; the interface module comprises a network port matching circuit, a USART matching circuit, an RS485 matching circuit, a CAN matching circuit, an I2C matching circuit, an SPI matching circuit and a GPIO matching circuit;
The FPGA is connected with the host through the network port matching circuit; the FPGA is externally hung with a peripheral device with a USART interface through a USART matching circuit; the FPGA is externally hung with a peripheral device with an RS485 interface through an RS485 matching circuit; the FPGA is externally hung with a peripheral device with a CAN interface through a CAN matching circuit; the FPGA is externally hung with a peripheral with an I2C interface through an I2C matching circuit; the FPGA is externally hung with a peripheral with an SPI interface through an SPI matching circuit; the FPGA controls the peripheral equipment or detects the state through the GPIO matching circuit;
when the industrial control system does not plug in a modbus rtu slave device, a host computer transmits a modbus TCP request packet to a TCP/IP module, and the TCP/IP module transmits the modbus TCP request packet to a modbus TCP protocol stack module; the modbus tcp protocol stack module analyzes the modbustcp request packet, if the modbus tcp request packet is abnormal, the analyzed information of the modbus tcp request packet is transmitted to the data upstream and downstream control module, and the data upstream and downstream control module transmits the analyzed information of the modbus tcp request packet to the corresponding interface module;
and the interface module performs corresponding operation processing according to the data request type of the modbus tcp request packet, and sends a modbus tcp response packet to the host after the operation processing is completed, so as to inform the host that the corresponding request operation is completed.
Further, if the modbus TCP request packet is abnormal, the modbus TCP protocol stack module generates a modbus TCP abnormal response packet with an abnormal code, and sends the modbus TCP abnormal response packet to the host through the TCP/IP module so as to inform the host that the modbus TCP request packet is abnormal.
Further, the modbus tcp protocol stack module performs function code, address and byte number abnormality judgment according to the device point table in the modbus tcp protocol stack module so as to determine whether the modbus tcp request packet is abnormal or not.
Further, the interface module performs corresponding operation processing according to the data request type of the modbus tcp request packet, and sends a modbus tcp response packet to the host after the operation processing is completed, so as to inform the host that the corresponding request operation is completed, including:
if the modbus tcp request packet is a data writing request, the interface module caches data in a storage space inside the interface module, then sends the data to a peripheral device or a drive pin level through corresponding interface drive logic, feeds back a data writing request completion signal to a modbus tcp protocol stack module after data writing request operation is completed, and sends the modbus tcp response packet to a host after the modbus tcp protocol stack module receives the data writing request completion signal, so as to inform the host that the data writing request is completed;
If the modbus tcp request packet is a data read request, the interface module transmits data sent by the peripheral to the data uplink and downlink control module, the data uplink and downlink control module transmits the peripheral data to the modbus tcp protocol stack module, after the peripheral data transmission is finished, the interface module feeds back a data read request completion signal to the modbus tcp protocol stack module, and after receiving the data read request completion signal, the modbus tcp protocol stack module sends the modbus tcp response packet to the host to inform the host that the data read request is finished.
Further, when the external modbus rtu slave device is needed by the RS485 interface, the host sends a first modbus TCP request packet to the TCP/IP module, and the function of the first modbus TCP request packet is to configure the RS485 module into an external modbus rtu slave device mode; after configuration is completed, the host sends a second modbus TCP request packet to the TCP/IP module, the TCP/IP module sends the second modbus TCP request packet to the modbus gateway module after receiving the second modbus TCP request packet, and the modbus gateway module converts the second modbus TCP request packet into a modbus rtu request packet and sends the modbus rtu request packet to the peripheral through the RS485 module; after the peripheral responds to the modbus rtu request packet, the modbus rtu response packet is sent to the modbus gateway module through the RS485 interface, and the modbus gateway module converts the modbus rtu response packet into a modbus TCP response packet and then sends the modbus TCP response packet to the host through the TCP/IP module.
An industrial control method based on an FPGA (field programmable gate array) comprises an industrial control system, wherein the industrial control system comprises an FPGA and an interface module, and the FPGA comprises a TCP/IP module, a modbus TCP protocol stack module, a data uplink and downlink control module, a modbus gateway module, an RS485 module, a USART module, a CAN module, an I2C module, an SPI module and a GPIO module; the interface module comprises a network port matching circuit, a USART matching circuit, an RS485 matching circuit, a CAN matching circuit, an I2C matching circuit, an SPI matching circuit and a GPIO matching circuit;
the FPGA is connected with the host through the network port matching circuit; the FPGA is externally hung with a peripheral device with a USART interface through a USART matching circuit; the FPGA is externally hung with a peripheral device with an RS485 interface through an RS485 matching circuit; the FPGA is externally hung with a peripheral device with a CAN interface through a CAN matching circuit; the FPGA is externally hung with a peripheral with an I2C interface through an I2C matching circuit; the FPGA is externally hung with a peripheral with an SPI interface through an SPI matching circuit; the FPGA controls the peripheral equipment or detects the state through the GPIO matching circuit;
the industrial control method comprises the following steps:
when the industrial control system does not plug in a modbus rtu slave device, a host computer transmits a modbus TCP request packet to a TCP/IP module, and the TCP/IP module transmits the modbus TCP request packet to a modbus TCP protocol stack module; the modbus tcp protocol stack module analyzes the modbustcp request packet, if the modbus tcp request packet is abnormal, the analyzed information of the modbus tcp request packet is transmitted to the data upstream and downstream control module, and the data upstream and downstream control module transmits the analyzed information of the modbus tcp request packet to the corresponding interface module;
And the interface module performs corresponding operation processing according to the data request type of the modbus tcp request packet, and sends a modbus tcp response packet to the host after the operation processing is completed, so as to inform the host that the corresponding request operation is completed.
Further, if the modbus TCP request packet is abnormal, the modbus TCP protocol stack module generates a modbus TCP abnormal response packet with an abnormal code, and sends the modbus TCP abnormal response packet to the host through the TCP/IP module so as to inform the host that the modbus TCP request packet is abnormal.
Further, the modbus tcp protocol stack module performs function code, address and byte number abnormality judgment according to the device point table in the modbus tcp protocol stack module so as to determine whether the modbus tcp request packet is abnormal or not.
Further, the interface module performs corresponding operation processing according to the data request type of the modbus tcp request packet, and sends a modbus tcp response packet to the host after the operation processing is completed, so as to inform the host that the corresponding request operation is completed, including:
if the modbus tcp request packet is a data writing request, the interface module caches data in a storage space inside the interface module, then sends the data to a peripheral device or a drive pin level through corresponding interface drive logic, feeds back a data writing request completion signal to a modbus tcp protocol stack module after data writing request operation is completed, and sends the modbus tcp response packet to a host after the modbus tcp protocol stack module receives the data writing request completion signal, so as to inform the host that the data writing request is completed;
If the modbus tcp request packet is a data read request, the interface module transmits data sent by the peripheral to the data uplink and downlink control module, the data uplink and downlink control module transmits the peripheral data to the modbus tcp protocol stack module, after the peripheral data transmission is finished, the interface module feeds back a data read request completion signal to the modbus tcp protocol stack module, and after receiving the data read request completion signal, the modbus tcp protocol stack module sends the modbuscp response packet to the host to inform the host that the data read request is finished.
Further, when the external modbus rtu slave device is needed by the RS485 interface, the host sends a first modbus TCP request packet to the TCP/IP module, and the function of the first modbus TCP request packet is to configure the RS485 module into an external modbus rtu slave device mode; after configuration is completed, the host sends a second modbus TCP request packet to the TCP/IP module, the TCP/IP module sends the second modbus TCP request packet to the modbus gateway module after receiving the second modbus TCP request packet, and the modbus gateway module converts the second modbus TCP request packet into a modbus rtu request packet and sends the modbus rtu request packet to the peripheral through the RS485 module; after the peripheral responds to the modbus rtu request packet, the modbus rtu response packet is sent to the modbus gateway module through the RS485 interface, and the modbus gateway module converts the modbus rtu response packet into a modbus TCP response packet and then sends the modbus TCP response packet to the host through the TCP/IP module.
The beneficial effects of the application are as follows: in the application, the RS485 interface can be used for mounting common peripherals and slave equipment with a modbus rtu communication protocol, so that the RS485 interface of the industrial control system can be reused and has stronger compatibility. In order to give consideration to common serial communication equipment and serial communication equipment with a modbus rtu communication protocol, dynamic parameter configuration is added in the process of realizing internal logic of an FPGA, and whether an RS485 interface is externally connected with common serial communication equipment or slave equipment communicating through the modbus rtu protocol is set, so that the RS485 interface of the industrial control system can be multiplexed, and has high compatibility.
In addition, in order to adapt to the control application of industrial products with more and more devices and greater complexity, bus interfaces and GPIO ports are expanded as much as possible under the condition that FPGA chip resources are allowed, so that the control system is suitable for application scenes in which more devices need to be mounted, and the expandability and flexibility of the control system are improved.
Drawings
In order to more clearly illustrate the technical solution of the embodiments of the present application, the following briefly describes the drawings that are required to be used in the embodiments:
FIG. 1 is a diagram of an internal logic module of an FPGA chip provided by an embodiment of the present application;
FIG. 2 is a flow chart of the operation of the industrial control system in a normal mode;
FIG. 3 is a workflow diagram when the RS485 interface is externally hung to a modbus rtu slave device;
FIG. 4 is a schematic view of a first portion of a device point table;
fig. 5 is a schematic diagram of a second portion of the device point table.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
As used in the present description and the appended claims, the term "if" may be interpreted as "when..once" or "in response to a determination" or "in response to detection" depending on the context. Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described condition or event ]".
Furthermore, the terms "first," "second," "third," and the like in the description of the present specification and in the appended claims, are used for distinguishing between descriptions and not necessarily for indicating or implying a relative importance.
Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.
In order to explain the technical scheme of the application, the following description is given by a specific embodiment.
The application provides an industrial control system based on an FPGA, which comprises the FPGA and an interface module. The FPGA chip is a core component of an industrial control system, and as shown in fig. 1, a module running inside the FPGA chip includes: TCP/IP module, modbus TCP protocol stack module, data up-down control module, modbus gateway module, RS485 module, USART module, CAN module, I2C module, SPI module, GPIO module.
The interface module is a peripheral interface circuit of the FPGA and comprises a network port matching circuit, a USART matching circuit, an RS485 matching circuit, a CAN matching circuit, an I2C matching circuit, an SPI matching circuit and a GPIO matching circuit. The FPGA is connected with the host through the network port matching circuit; the FPGA is externally hung with a peripheral device with a USART interface through a USART matching circuit; the FPGA is externally hung with a peripheral device with an RS485 interface through an RS485 matching circuit; the FPGA is externally hung with a peripheral device with a CAN interface through a CAN matching circuit; the FPGA is externally hung with a peripheral with an I2C interface through an I2C matching circuit; the FPGA is externally hung with a peripheral with an SPI interface through an SPI matching circuit; the FPGA controls the peripheral equipment or detects the state through the GPIO matching circuit.
The TCP/IP module is a TCP/IP protocol stack of the FPGA end and can be connected with the TCP/IP protocol stack of the host end according to the TCP/IP protocol and carry out data interaction.
The modbus TCP protocol stack module is used for carrying out data caching and analysis on a modbustcp request packet sent by a host and received by the TCP/IP module, if the request packet is abnormal, an abnormal response is returned, if the request packet is normal, the analyzed request packet information is transmitted to the downstream, and after the execution of the request packet is waited, the modbus TCP response packet is returned to the host.
The data uplink and downlink control module is used for transmitting the parsed request packet information to each interface module. In the process that a certain interface module responds to the request packet, signals such as response starting, response data, response completion and the like are fed back to the data uplink and downlink control module. The data uplink and downlink control module sends the response information of a certain interface module to the modbus tcp protocol stack module through the multiplexing selector.
The USART module is an interface driver written according to the timing sequence of the USART interface, can dynamically configure the baud rate, the data bit width, the parity check and the stop bit, can simultaneously receive and transmit data, and belongs to a full duplex interface.
The RS485 module is an interface driver written according to the RS485 interface time sequence, can dynamically configure the baud rate, the data bit width, the parity check and the stop bit, can not receive and transmit data at the same time, and belongs to a half-duplex interface.
The CAN module is an interface driver written according to a CAN protocol, CAN dynamically configure information such as baud rate, working mode, interrupt enabling, filter, mask and the like, CAN not receive and transmit data at the same time, and belongs to a half-duplex interface.
The I2C module is an interface drive written according to an I2C time sequence, can not receive and transmit data at the same time, and belongs to a half-duplex interface.
The GPIO module does not need to write interface drive according to time sequence, and only needs to convert the analyzed modbus tcp request packet information into high and low levels to control the state information of the peripheral mounted at the output port or the peripheral mounted at the buffer input port for reading the state of the host.
The modbus gateway module converts a modbus TCP request packet received from the TCP/IP module into a modbus rtu request packet, and transmits the converted modbus rtu request packet to a peripheral device mounted on an RS485 interface through the RS485 module, and after the peripheral device responds to the modbus rtu request packet, a modbus rtu response packet is transmitted to the modbus gateway module through the RS485 interface, and the modbus gateway module converts the modbus rtu response packet into a modbus TCP response packet and transmits the modbus TCP response packet to the host.
The network port matching circuit adopts a YT8512H chip and a hundred megaelectric port RJ45.
The USART matching circuit adopts a NSi8221N1-DSPR level conversion chip, and converts 3.3V of an FPGA end into 5.0V of a peripheral end.
The RS485 matching circuit adopts an RSM3485ECHT chip.
The CAN matching circuit adopts a CTM8251KAT chip.
The I2C matching circuit is directly led out from 2 pins of the FPGA and is connected with the peripheral equipment.
The SPI matching circuit is directly led out from 8 pins of the FPGA and is connected with the peripheral equipment.
The GPIO matching circuit is directly led out from 100 pins of the FPGA and is connected with the peripheral equipment.
As shown in fig. 2, under the condition that the industrial control system does not plug in the modbus rtu slave device, the host sends a modbus TCP request packet to the TCP/IP module, specifically, the host sends a modbus TCP request packet to the port 502 of the FPGA through the hundred meganet port, and the TCP/IP module transmits the modbus TCP request packet to the modbus TCP protocol stack module. The modbustcp protocol stack module analyzes and processes the modbus tcp request packet and caches the same, and in this embodiment, when the modbus tcp protocol stack module analyzes, the function code, the address and the byte number are judged to be abnormal according to the device point table in the modbus tcp protocol stack module, so as to determine whether the modbus tcp request packet is abnormal. If the modbus TCP request packet is abnormal, the modbus TCP protocol stack module generates a modbus TCP abnormal response packet with an abnormal code and sends the modbus TCP abnormal response packet to the host through the TCP/IP module so as to inform the host of the occurrence of the abnormality of the modbus TCP request packet and also inform the host of the occurrence of the abnormality; if the modbus tcp request packet is abnormal, the analyzed information of the modbus tcp request packet is transmitted to the data upstream and downstream control modules, and the data upstream and downstream control modules transmit the analyzed information of the modbus tcp request packet to the corresponding interface modules.
And the interface module performs corresponding operation processing according to the data request type of the modbus tcp request packet, and sends a modbus tcp response packet to the host after the operation processing is completed, so as to inform the host that the corresponding request operation is completed. As a specific embodiment, the data request types are classified into data write requests and data read requests. If the modbustccp request packet is a data writing request, the interface module caches the data in a storage space inside the interface module, then sends the data to the peripheral or a drive pin level through corresponding interface drive logic, feeds back a data writing request completion signal to the modbus tcp protocol stack module after the data writing request operation is finished, and sends a modbus tcp response packet to the host after the modbus tcp protocol stack module receives the data writing request completion signal, so as to inform the host that the data writing request is finished; if the modbustcp request packet is a data read request, the interface module transmits data sent by the peripheral to the data uplink and downlink control module, the data uplink and downlink control module transmits the peripheral data to the modbus tcp protocol stack module through the multiplexing selector, after the peripheral data transmission is finished, the interface module feeds back a data read request completion signal to the modbus tcp protocol stack module, and the modbus tcp protocol stack module sends a modbustcp response packet to the host after receiving the data read request completion signal, so as to inform the host that the data read request is completed.
As shown in fig. 3, when the RS485 interface needs a plug-in modbus rtu slave device, the host sends a first modbus TCP request packet to the TCP/IP module, specifically, the host sends the first modbus TCP request packet to the port 502 of the FPGA, where the role of the first modbus TCP request packet is to configure the RS485 module to be in the plug-in modbus rtu slave device mode. After the configuration is completed, the host sends a second modbus TCP request packet to the TCP/IP module, specifically, the host sends the second modbus TCP request packet to the port 503 of the FPGA, and after receiving the second modbus TCP request packet, the TCP/IP module transmits the second modbus TCP request packet to the modbus gateway module, and the modbus gateway module converts the second modbus TCP request packet into a modbus rtu request packet and sends the modbus rtu request packet to the peripheral through the RS485 module. After the peripheral responds to the modbusrtu request packet, the modbus rtu response packet is sent to the modbus gateway module through the RS485 interface, and after the modbus gateway module converts the modbus rtu response packet into a modbus TCP response packet, the modbus TCP response packet is sent to the host through the port 503 of the TCP/IP module through the TCP/IP module.
Corresponding to the technical scheme, a specific implementation mode is given as follows:
as shown in fig. 1, a usart_0 module mounts a path of alarm lamp through a USART matching circuit; the USART_1 module mounts one path of electromagnetic magnetic driver through a USART matching circuit; usart_2 is reserved, and no device is mounted; the RS485_0 module mounts one path of oxygen concentration sensor through an RS485 matching circuit; the RS485_1 module mounts a path of temperature sensor adopting a modbus rtu communication protocol through an RS485 matching circuit; the RS485_2 is reserved, and no equipment is mounted; the CAN_0 module mounts one voice terminal peripheral through a CAN matching circuit; the CAN_1 module mounts a path of expander dip angle detection equipment through a CAN matching circuit; CAN_2 and CAN_3 are reserved, and no equipment is mounted; the I2C module mounts a current monitoring module through an I2C matching circuit; the SPI module mounts an AD sampling module with one path of 8 channels through an SPI matching circuit; the GPIO module is externally connected with a clock state LED lamp, 8 keys and 8 key state LED lamps through a GPIO matching circuit, and the rest pins are reserved.
The host is connected with a TCP/IP module in the FPGA chip through an Ethernet port and sends a modbus TCP request packet. The TCP/IP module opens two ports: 502 and 503, wherein a set of data interfaces of port 502 is connected to a data upstream and downstream control module, and a set of data interfaces of port 503 is connected to a modbus gateway module.
In a normal mode, that is, a mode in which the RS485 module does not plug in a slave device communicating through a modbus rtu protocol, data is transmitted by using the port 502, and a modbus tcp request supported by the industrial control system includes: reading coil (function code: 01H), reading discrete quantity input (function code: 02H), reading holding register (function code: 03H), reading input register (function code: 04H), writing single coil (function code: 05H), writing single holding register (function code: 06H), writing multiple coils (function code: 0 FH), writing multiple holding registers (function code: 10H). The TCP/IP module transmits the received modbus TCP request packet to the modbus TCP protocol stack module.
The modbus tcp protocol stack module caches the received modbus tcp request packet, and meanwhile judges information such as function codes, storage addresses, quantity, byte lengths and the like in the request packet. The judging method comprises the following steps: firstly, comparing the function code in the request packet with the function code supported by the industrial control system, if the function code is not in the type of the function code supported by the industrial control system, generating an abnormal code 01H, organizing a modbus tcp abnormal response packet with the abnormal code 01H, and sending the abnormal response packet to a host; step two, after the function code in the step one is abnormal and the function code type is determined, judging whether a storage address in the request packet is in a device point table, if not, generating an abnormal code 02H, organizing a modbus tcp abnormal response packet with the abnormal code 02H and sending the abnormal response packet to a host; thirdly, under the condition that the storage address in the second step is not abnormal, (1) if the type of the function code is writing a plurality of coils (0 FH), judging whether the output quantity and the byte length are consistent, and if not, generating an abnormal code 03H; (2) if the function code type is writing a plurality of holding registers (10H), judging whether the register quantity and the byte length are consistent, if not, generating an abnormal code 03H, organizing a modbus tcp abnormal response packet with the abnormal code 02H and sending the abnormal response packet to a host; and fourthly, under the condition that no abnormality exists in the previous three steps, the analyzed modbustcp request packet information is sent to the data uplink and downlink control module.
The parsed request packet information includes 8 sets of signals including: a read coil signal set, a read discrete quantity signal set, a read hold register signal set, a read input register signal set, a write single coil signal set, a write single hold register signal set, a write multiple coil signal set, and a write multiple hold register signal set. Each signal group contains the necessary information for this operation, for example the read coil signal group contains the following information: read coil enable signal, start address and number.
As shown in fig. 4 and 5, the device point table inside the FPGA is divided by modules and storage types. The left side 0xXX represents the starting address of the memory space, the middle box represents the role and memory type of the memory space, and the right side represents the module. For registers, each address represents 16 bits of memory space; for discrete magnitude inputs and coils, each address represents a 1bit memory space. The reserved part is reserved for later development and use.
The data uplink and downlink control module connects the parsed 8 groups of request packet signals with each interface module as required, for example, in the USART_0 module, the storage space type only has a holding register and an input register, so that the single holding register signal group, the plurality of holding register signal groups, the read holding register signal group and the read input register signal group are written and connected with the USART_0 module.
And the RS485_0 module is externally hung with one path of oxygen concentration sensor through an RS485 matching circuit. The oxygen concentration sensor can detect the value of the oxygen concentration in the air in real time and continuously send the value to the RS485_0 module through the RS485 interface. The RS485 module caches the received oxygen concentration value in the air in an address 0x107b register to wait for the reading of the host. The host sends a request packet for modbus tcp to read an input register to the FPGA every 100ms, the register address in the request packet is 0x107b, and the number of registers is 1. And after receiving the analyzed read input register signal group signal, the RS485 module sends the value in the 0x107b register to the data uplink and downlink control module. The data uplink and downlink control module sends the register value to the modbus tcp protocol stack module, the modbus tcp protocol stack module organizes a modbus tcp response packet, and the response packet containing the oxygen concentration value is sent to the host. When the host acquires an oxygen concentration value and judges that the oxygen concentration is lower than a safety standard, a request packet of modbus tcp for writing a plurality of holding registers is sent to the FPGA, the initial address of the request packet is 0x0002, the number of the registers is 0x0004, the byte length is 0x08, the register values are 0x0302, 0x4000, 0xffff and 0xff00, after receiving the request packet data, the USART_0 is cached in a continuous storage space with the initial address of 0x0002, after the request packet data are received, a data sending function in the USART_0 module is triggered, the values of the continuous 4 registers with the initial address of 0x0002 are sent to the alarm lamp peripheral through an interface, and the alarm lamp peripheral device continuously blinks after receiving the continuous 8 bytes of data, so that surrounding workers are informed that the oxygen concentration in the air is too low.
It should be noted that, before data is transmitted through the RS485 or USART interface, configuration information such as the baud rate, the data bit width, the parity check, and the stop bit of the interface need to be set to be consistent with the mounted peripheral, otherwise communication failure may be caused. Similarly, a CAN interface is also required to configure information such as the baud rate, the operation mode, the interrupt enable, the filter, and the mask of the CAN interface according to transmission requirements before data transmission is performed through the CAN interface.
When the RS485_1 module is communicated with the temperature sensor, the RS485_1 module needs to be configured into a mode of externally hung modbus rtu protocol equipment, and the configuration method comprises the following steps: the host sends a modbus tcp write single hold register request packet to FPGA port 502 with a start address of 0x1101 and a register value of 0x1000. After the RS485_1 module is configured into a mode of a plug-in modbus rtu protocol slave device, a host sends a modbus TCP request packet to an FPGA port 503, the TCP/IP module transmits the received modbus TCP request packet to a modbus gateway module through a port 503 data interface, the modbus gateway module converts the modbus TCP request packet into a modbus rtu request packet, the modbus request packet is sent to a temperature sensor through an RS485 interface, after the temperature sensor responds to the request packet, the modbus rtu response packet is sent to the RS485_1 module, the RS485_1 module transmits data to the modbus gateway module, and the modbus gateway module converts the modbus rtu response packet into a modbustcp response packet and then sends the modbustcp response packet to the host through the port 503 interface.
It should be noted that, if the device hung on the rs485_1 module is replaced by the slave device of the modbus rtu protocol to be a common RS485 interface device, the rs485_1 module needs to be dynamically configured into a normal mode, and then is operated through the port 502.
When the modbus rtu slave device is hung on the rs485_1 interface, the host operates other interfaces through the port 502 of the FPGA, and operates the rs485_1 interface through the port 503 of the FPGA.
Therefore, the industrial control system based on the FPGA is applied to the field of industrial control, and based on the design of an FPGA chip and an interface matching circuit, the industrial control system comprises one hundred megaEthernet port, three USART interfaces, three RS485 buses, four CAN buses, one I2C interface, one SPI interface and 100 GPIO ports, the industrial control system needs to be connected with a host computer with an upper computer for playing a role, the interface between the host computer and the industrial control system is hundred megaEthernet, the interface protocol is a TCP/IP protocol, the communication protocol is a modbus TCP protocol, and the modbus TCP communication protocol supports eight types of operations: the data interface of the port 502 is connected with the data uplink and downlink control module, the data interface of the port 503 is connected with the modbus gateway module, the USART and RS485 interface CAN be configured with information such as baud rate, data bit width, parity check, stop bit width and the like, the CAN interface CAN be configured with information such as baud rate, working mode, interrupt enable, filter, mask and the like, and the RS485 module CAN be configured into two modes: one is a device with a plug-in common interface of RS 485; one is slave equipment with a plug-in interface of RS485 and a communication protocol of modbus rtu.
The embodiment also provides an industrial control method based on the FPGA, and an industrial control system based on the industrial control method comprises the FPGA and an interface module. The FPGA comprises a TCP/IP module, a modbus TCP protocol stack module, a data uplink and downlink control module, a modbus gateway module, an RS485 module, a USART module, a CAN module, an I2C module, an SPI module, a GPIO module and an interface module; the interface module comprises a network port matching circuit, a USART matching circuit, an RS485 matching circuit, a CAN matching circuit, an I2C matching circuit, an SPI matching circuit and a GPIO matching circuit.
The FPGA is connected with the host through the network port matching circuit; the FPGA is externally hung with a peripheral device with a USART interface through a USART matching circuit; the FPGA is externally hung with a peripheral device with an RS485 interface through an RS485 matching circuit; the FPGA is externally hung with a peripheral device with a CAN interface through a CAN matching circuit; the FPGA is externally hung with a peripheral with an I2C interface through an I2C matching circuit; the FPGA is externally hung with a peripheral with an SPI interface through an SPI matching circuit; the FPGA controls the peripheral equipment or detects the state through the GPIO matching circuit.
Since the industrial control method corresponds to the operation process of the industrial control system, the specific implementation process of the operation process is already given when the industrial control system is described, and will not be described again.
The above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the application and are intended to be included within the scope of the application.
Claims (10)
1. The industrial control system based on the FPGA is characterized by comprising the FPGA and an interface module, wherein the FPGA comprises a TCP/IP module, a modbus TCP protocol stack module, a data uplink and downlink control module, a modbus gateway module, an RS485 module, a USART module, a CAN module, an I2C module, an SPI module and a GPIO module; the interface module comprises a network port matching circuit, a USART matching circuit, an RS485 matching circuit, a CAN matching circuit, an I2C matching circuit, an SPI matching circuit and a GPIO matching circuit;
the FPGA is connected with the host through the network port matching circuit; the FPGA is externally hung with a peripheral device with a USART interface through a USART matching circuit; the FPGA is externally hung with a peripheral device with an RS485 interface through an RS485 matching circuit; the FPGA is externally hung with a peripheral device with a CAN interface through a CAN matching circuit; the FPGA is externally hung with a peripheral with an I2C interface through an I2C matching circuit; the FPGA is externally hung with a peripheral with an SPI interface through an SPI matching circuit; the FPGA controls the peripheral equipment or detects the state through the GPIO matching circuit;
When the industrial control system does not plug in a modbus rtu slave device, a host computer transmits a modbus TCP request packet to a TCP/IP module, and the TCP/IP module transmits the modbus TCP request packet to a modbus TCP protocol stack module; the Modbus tcp protocol stack module analyzes the Modbus tcp request packet, if the Modbus tcp request packet is not abnormal, the analyzed information of the Modbus tcp request packet is transmitted to the data upstream and downstream control module, and the data upstream and downstream control module transmits the analyzed information of the Modbus tcp request packet to the corresponding interface module;
and the interface module performs corresponding operation processing according to the data request type of the modbus tcp request packet, and sends a modbus tcp response packet to the host after the operation processing is completed, so as to inform the host that the corresponding request operation is completed.
2. The FPGA-based industrial control system of claim 1 wherein,
if the modbus TCP request packet is abnormal, the modbus TCP protocol stack module generates a modbus TCP abnormal response packet with an abnormal code and sends the modbus TCP abnormal response packet to the host through the TCP/IP module so as to inform the host that the modbus TCP request packet is abnormal.
3. The FPGA-based industrial control system of claim 1 or 2, wherein,
And the modbus tcp protocol stack module performs function code, address and byte number abnormality judgment according to the equipment point table in the modbus tcp protocol stack module so as to determine whether the modbus tcp request packet is abnormal or not.
4. The FPGA-based industrial control system of claim 1 wherein,
the interface module performs corresponding operation processing according to the data request type of the modbus tcp request packet, and sends a modbus tcp response packet to the host after the operation processing is completed, and the method is used for informing the host that the corresponding request operation is completed, and comprises the following steps:
if the modbus tcp request packet is a data writing request, the interface module caches data in a storage space inside the interface module, then sends the data to a peripheral device or a drive pin level through corresponding interface drive logic, feeds back a data writing request completion signal to a modbus tcp protocol stack module after data writing request operation is completed, and sends the modbus tcp response packet to a host after the modbus tcp protocol stack module receives the data writing request completion signal, so as to inform the host that the data writing request is completed;
if the modbus tcp request packet is a data read request, the interface module transmits data sent by the peripheral to the data uplink and downlink control module, the data uplink and downlink control module transmits the peripheral data to the modbus tcp protocol stack module, after the peripheral data transmission is finished, the interface module feeds back a data read request completion signal to the modbus tcp protocol stack module, and after receiving the data read request completion signal, the modbus tcp protocol stack module sends the modbus tcp response packet to the host to inform the host that the data read request is finished.
5. The FPGA-based industrial control system of claim 1 wherein,
when the external modbus rtu slave device is needed by the RS485 interface, a host sends a first modbus TCP request packet to a TCP/IP module, wherein the first modbus TCP request packet is used for configuring the RS485 module to be in an external modbus rtu slave device mode; after configuration is completed, the host sends a second modbus TCP request packet to the TCP/IP module, the TCP/IP module sends the second modbus TCP request packet to the modbus gateway module after receiving the second modbus TCP request packet, and the modbus gateway module converts the second modbus TCP request packet into a modbus rtu request packet and sends the modbus rtu request packet to the peripheral through the RS485 module; after the peripheral responds to the modbus rtu request packet, the modbus rtu response packet is sent to the modbus gateway module through the RS485 interface, and the modbus gateway module converts the modbus rtu response packet into a modbus TCP response packet and then sends the modbus TCP response packet to the host through the TCP/IP module.
6. The industrial control method based on the FPGA is characterized by being based on an industrial control system, wherein the industrial control system comprises an FPGA and an interface module, and the FPGA comprises a TCP/IP module, a modbus TCP protocol stack module, a data uplink and downlink control module, a modbus gateway module, an RS485 module, a USART module, a CAN module, an I2C module, an SPI module and a GPIO module; the interface module comprises a network port matching circuit, a USART matching circuit, an RS485 matching circuit, a CAN matching circuit, an I2C matching circuit, an SPI matching circuit and a GPIO matching circuit;
The FPGA is connected with the host through the network port matching circuit; the FPGA is externally hung with a peripheral device with a USART interface through a USART matching circuit; the FPGA is externally hung with a peripheral device with an RS485 interface through an RS485 matching circuit; the FPGA is externally hung with a peripheral device with a CAN interface through a CAN matching circuit; the FPGA is externally hung with a peripheral with an I2C interface through an I2C matching circuit; the FPGA is externally hung with a peripheral with an SPI interface through an SPI matching circuit; the FPGA controls the peripheral equipment or detects the state through the GPIO matching circuit;
the industrial control method comprises the following steps:
when the industrial control system does not plug in a modbus rtu slave device, a host computer transmits a modbus TCP request packet to a TCP/IP module, and the TCP/IP module transmits the modbus TCP request packet to a modbus TCP protocol stack module; the Modbus tcp protocol stack module analyzes the Modbus tcp request packet, if the Modbus tcp request packet is not abnormal, the analyzed information of the Modbus tcp request packet is transmitted to the data upstream and downstream control module, and the data upstream and downstream control module transmits the analyzed information of the Modbus tcp request packet to the corresponding interface module;
and the interface module performs corresponding operation processing according to the data request type of the modbus tcp request packet, and sends a modbus tcp response packet to the host after the operation processing is completed, so as to inform the host that the corresponding request operation is completed.
7. The method of claim 6, wherein,
if the modbus TCP request packet is abnormal, the modbus TCP protocol stack module generates a modbus TCP abnormal response packet with an abnormal code and sends the modbus TCP abnormal response packet to the host through the TCP/IP module so as to inform the host that the modbus TCP request packet is abnormal.
8. The FPGA-based industrial control method according to claim 6 or 7, wherein,
and the modbus tcp protocol stack module performs function code, address and byte number abnormality judgment according to the equipment point table in the modbus tcp protocol stack module so as to determine whether the modbus tcp request packet is abnormal or not.
9. The method of claim 6, wherein,
the interface module performs corresponding operation processing according to the data request type of the modbus tcp request packet, and sends a modbus tcp response packet to the host after the operation processing is completed, and the method is used for informing the host that the corresponding request operation is completed, and comprises the following steps:
if the modbus tcp request packet is a data writing request, the interface module caches data in a storage space inside the interface module, then sends the data to a peripheral device or a drive pin level through corresponding interface drive logic, feeds back a data writing request completion signal to a modbus tcp protocol stack module after data writing request operation is completed, and sends the modbus tcp response packet to a host after the modbus tcp protocol stack module receives the data writing request completion signal, so as to inform the host that the data writing request is completed;
If the modbus tcp request packet is a data read request, the interface module transmits data sent by the peripheral to the data uplink and downlink control module, the data uplink and downlink control module transmits the peripheral data to the modbus tcp protocol stack module, after the peripheral data transmission is finished, the interface module feeds back a data read request completion signal to the modbus tcp protocol stack module, and after receiving the data read request completion signal, the modbus tcp protocol stack module sends the modbus tcp response packet to the host to inform the host that the data read request is finished.
10. The method of claim 6, wherein,
when the external modbus rtu slave device is needed by the RS485 interface, a host sends a first modbus TCP request packet to a TCP/IP module, wherein the first modbus TCP request packet is used for configuring the RS485 module to be in an external modbus rtu slave device mode; after configuration is completed, the host sends a second modbus TCP request packet to the TCP/IP module, the TCP/IP module sends the second modbus TCP request packet to the modbus gateway module after receiving the second modbus TCP request packet, and the modbus gateway module converts the second modbus TCP request packet into a modbus rtu request packet and sends the modbus rtu request packet to the peripheral through the RS485 module; after the peripheral responds to the modbus rtu request packet, the modbus rtu response packet is sent to the modbus gateway module through the RS485 interface, and the modbus gateway module converts the modbus rtu response packet into a modbus TCP response packet and then sends the modbus TCP response packet to the host through the TCP/IP module.
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