JP5605338B2 - Communication device - Google Patents

Description

  The present invention relates to a communication apparatus that performs communication using a mailbox.

  In vehicles, in order to enhance control or enhance services, in-vehicle devices such as electronic control units (ECUs) are connected to each other via a communication bus to form a local area network (so-called in-vehicle LAN). Information is shared between devices.

Note that a controller area network (CAN) is often used as a communication protocol for in-vehicle LAN.
In this CAN protocol, before a transmission message is framed and transmitted to a communication bus, the transmission message is stored in a transmission mailbox in which an identification ID code (hereinafter referred to as CANID) representing the type of the transmission message is set. Stipulates that when a frame is received via the communication bus, the received message extracted from the frame is stored in a receiving mailbox in which the same CANID as the CANID assigned to the received message is set in advance. Has been.

  The electronic control device is provided with a predetermined number (for example, 32) of mailboxes in advance, and each mailbox is given a box number (for example, an integer value of 0 to 31) for identifying the mailbox. ing. Each mailbox is set in a CAN initialization process before the electronic control device is activated and CAN communication is started.

  Specifically, as shown in FIG. 10, first, for each CANID, a transmission / reception setting indicating a method of using a mailbox (transmission [Tx] / reception [Rx]), and a DLC ( Based on the message specification MS in which (Data Length Code) is described, the designer sets the CANID, transmission / reception setting, and DLC corresponding to the box number of each mailbox, and creates the mailbox setting specification MBS. This mailbox setting specification MBS is stored in the electronic control device, and the mailbox setting specification MBS is read every time the electronic control device is activated, and according to the setting of the mailbox setting specification MBS, CANID and Transmission / reception settings and DLC are set. Therefore, if the mailbox setting is performed when the electronic control device is activated, the mailbox setting is not changed thereafter.

By the way, the mailbox is generally composed of a RAM, and there is a possibility that bit sticking, which is an abnormality in which the bit value cannot be rewritten, may occur.
Conventionally, a technique is known in which after a predetermined pattern is written in a mailbox, the written pattern is read, and when the write pattern does not match the read pattern, a notification that bit sticking has occurred is known. (For example, see Patent Document 1). As a result, the abnormal state of the mailbox can be detected, so that it is possible to perform control corresponding to the abnormal state (for example, fail-safe control or stop of control related to the message stored in the mailbox). Thus, the influence on the vehicle control due to the abnormality of the mailbox can be minimized.

JP 2004-153650 A

  However, as described above, since the mailbox setting is not changed after the mailbox setting is performed at the time of starting the electronic control device, an abnormal state of the mailbox can be detected as described in Patent Document 1. However, there was a problem that the control restriction related to the abnormal mailbox continued.

  The present invention has been made in view of these problems, and an object of the present invention is to provide a technique for suppressing an abnormal mailbox from being assigned for storing messages.

In order to achieve the above object, the inventions according to claims 1 to 5 include a plurality of first mailboxes storing at least a message and an identification code indicating a message type, and messages from the first mailbox. And an identification code is extracted, and a frame with the identification code extracted from the first mailbox added to the message extracted from the first mailbox is transmitted to the communication bus and the frame is received via the communication bus. A first transmission / reception means for extracting the message and the identification code from the received frame, and storing the message extracted from the frame in the first mailbox storing the identification code that matches the extracted identification code; The abnormality determination means is configured for each of the plurality of first mailboxes. Normally it is determined whether or not occurring. The first assigning means stores an identification code in the first mailbox for the first mailbox determined by the abnormality determining means that no abnormality has occurred among the plurality of first mailboxes, The first mail is assigned for storing the message corresponding to the identification code, and the assignment prohibiting means determines that the abnormality determining means determines that an abnormality has occurred among the plurality of first mailboxes. The box is prohibited from being assigned for storing messages by prohibiting the storage of the identification code in the first mailbox.

  In the communication apparatus configured as described above, a normal mailbox is allocated for storing messages, while an abnormal mailbox is not allocated for storing messages. As a result, it is possible to suppress the occurrence of a situation in which communication of a message to which this abnormal mailbox is assigned cannot be performed due to an abnormality in the mailbox, thereby improving communication reliability.

Further, in the communication apparatus according to claim 1 and 3 are set respectively, the priority in advance for a plurality of messages, the first allocation unit, among the plurality of messages, the the high priority message in order assign a mailbox.

  Thereby, even when the number of normal mailboxes is smaller than the number of the plurality of messages, the normal mailboxes can be preferentially assigned to messages having high priority. For this reason, it is possible to suppress the occurrence of a situation in which an important message cannot be communicated due to an abnormality in the mailbox, and the communication reliability can be further improved.

  The priority may be determined based on the degree of influence of the message on the system, the communication cycle of the message, and the like. Specifically, when the communication apparatus according to claim 2 is connected to another communication apparatus via a communication bus so that data communication is possible, a system in which message communication is not possible The higher the impact on the message, the higher the priority of the message, or the shorter the communication cycle of the message, the higher the priority of the message. Or

  By the way, in the CAN (Controller Area Network) protocol, arbitration control for determining which frame is preferentially processed using the above-described identification code is executed by a technique called bit-unit non-destructive arbitration. Yes.

  That is, there are dominant (dominant) and recessive (inferior) signal levels on the communication bus. When a dominant and recessive signal is transmitted simultaneously from a plurality of communication devices, the bus signal level becomes dominant. . In general, it is assumed that the theoretical value of dominant is 0 and the logical value of recessive is 1.

  That is, in a communication system using the CAN protocol, when a plurality of frames are transmitted simultaneously on the communication bus, the communication apparatus that has transmitted the frame having the smallest identification code logical value obtains the transmission right. In general, an identification code having a smaller logical value is assigned so that a higher priority frame is transmitted with higher priority even if a collision with another frame occurs.

Therefore, in the communication device according to claims 2 and 4 , when the first transmission / reception means performs transmission / reception in accordance with a CAN (Controller Area Network) protocol , the first allocation means includes an identification code among a plurality of identification codes. by storing in the first mailbox in the order value is less, assign first mailbox.

  Thereby, even when the number of normal mailboxes is smaller than the number of a plurality of messages, normal mailboxes can be preferentially assigned to messages corresponding to identification codes having a small identification code value. As a result, it is possible to suppress the occurrence of a situation in which an important message cannot be communicated due to an abnormality in the mailbox, and to further improve the reliability of communication.

Moreover, Te communication device smell of claim 1 or claim 2, the first mailbox, by first assigning means, first the mail transmission first receiving means stores the transmission message is a message to be transmitted Assigned to any one of the box and the first receiving mailbox for storing a receiving message that is a message received by the first transmitting / receiving means, and the transmission sharing setting means assigns the first mailbox by the first assigning means. As a result, when there is an unassigned transmission message that is a transmission message that has not been assigned to the first mailbox, the first mail assigned as the first mailbox for transmission by the first assigning means From the boxes, select the first mailbox that satisfies the preset transmission box selection conditions, and select it. For the first mailbox transmission, set in such a way that it can store the unallocated transmission message in addition to the transmission message already assigned.

  Thus, one mailbox can be shared for storing a plurality of messages. For this reason, even when the number of normal mailboxes is less than the number of multiple messages, the occurrence of a situation in which message communication cannot be performed due to insufficient mailboxes is suppressed, and communication reliability is further improved. Can be made.

Further, in the communication device according to any one of claims 1 and 2 , as described in claim 6 , the transmission box selection condition is most determined by the first allocating unit among the first mailboxes allocated by the first allocating unit. It may be configured to be the first mailbox for transmission allocated late.

  As a result, the mailbox storing the identification code with the lowest priority among the mailboxes storing the identification code is used as a mailbox for storing the message by sharing it with the unallocated transmission message. be able to. That is, it is possible to suppress the occurrence of a situation in which a mailbox for storing a message having a high priority is set as a mailbox for storing a message in common with an unassigned transmission message. For this reason, it is possible to suppress the occurrence of a situation in which an important message cannot be communicated due to an abnormality caused by the mailbox sharing setting, and to further improve the reliability of communication.

Further, in the communication apparatus according to claim 3 and 4, the first mailbox, by first assigning means, first mailbox for sending the first transmitting and receiving means for storing the transmission message is a message to be transmitted, and The first sharing means is assigned to one of the first receiving mailboxes for storing the receiving message that is a message received by the first transmitting / receiving means, and the reception sharing setting means is assigned to the first mailbox by the first assigning means. As a result, when there is an unallocated reception message that is a reception message that has not been allocated to the first mailbox, the first allocation unit allocates the first mailbox allocated as the reception first mailbox. To select a first mailbox that satisfies a preset inbox selection condition, and select the first receiving mailbox. For over mailbox is set so as to store the unallocated receiving messages in addition to receiving messages that are already assigned.

  Thus, one mailbox can be shared for storing a plurality of messages. For this reason, even when the number of normal mailboxes is less than the number of multiple messages, the occurrence of a situation in which message communication cannot be performed due to insufficient mailboxes is suppressed, and communication reliability is further improved. Can be made.

Further, in the communication device according to claim 3 or 4 , as described in claim 7, the inbox selection condition is most determined by the first assigning means among the first mailboxes assigned by the first assigning means. It may be configured to be the first mailbox for reception allocated late.

  As a result, the mailbox storing the identification code with the lowest priority among the mailboxes storing the identification code is used as a mailbox for storing the message by sharing it with the unallocated reception message. be able to. That is, it is possible to suppress the occurrence of a situation in which a mailbox for storing a message having a high priority is set as a mailbox for storing a message in common with an unallocated reception message. For this reason, it is possible to suppress the occurrence of a situation in which an important message cannot be communicated due to an abnormality caused by the mailbox sharing setting, and to further improve the reliability of communication.

Further, in the communication apparatus according to claim 5, extracted and the message, and a plurality of second mailbox identification code indicating the type of message is at least stored, the message identification code from the second mailbox, e-mail When the message extracted from the box is added with the identification code extracted from the second mailbox and transmitted to the communication bus, and the frame is received via the communication bus, the message is received from the received frame. And a second transmission / reception means for storing the message extracted from the frame in the second mailbox storing the identification code that matches the extracted identification code. As described in FIG. 8, the second transmission / reception usage determining means assigns the mailbox by the first assigning means. As a result, when there is an unassigned message that is a message that has not been assigned to the mailbox, it is determined whether or not the second sending / receiving means is in use, and the second assigning means When it is determined by the second transmission / reception use determining means that the means is not in use, the identification code of the unallocated message is stored in the second mailbox with respect to the second mailbox. assign a mail box for storage of unallocated message.

  Thereby, the second mailbox can be used to store messages transmitted and received by the first transmitting / receiving means. For this reason, even when the number of normal first mailboxes is smaller than the number of multiple messages, the occurrence of a situation where message communication becomes impossible due to a shortage of mailboxes is suppressed, and communication reliability is improved. Further improvement can be achieved.

1 is a block diagram showing a configuration of an electronic control device 1. FIG. It is a flowchart which shows a CAN initialization process. It is a flowchart which shows a bit sticking inspection process. It is a flowchart which shows the mailbox setting process of 1st, 2 embodiment. It is a flowchart which shows the conventional mailbox setting process. It is a flowchart which shows the mailbox setting process of 3rd Embodiment. It is a block diagram which shows the structure of the electronic control apparatus 1 of 4th Embodiment. It is a flowchart which shows the mailbox setting process of 4th Embodiment. It is a figure explaining the setting method of message specification MS based on a system influence degree. It is a figure which shows message specification MS and mailbox setting specification MBS.

(First embodiment)
A first embodiment of the present invention will be described below with reference to the drawings.
FIG. 1 is a block diagram showing a configuration of an electronic control device 1 to which the present invention is applied.

  An electronic control unit (hereinafter referred to as ECU) 1 is connected to an in-vehicle LAN using a CAN (Controller Area Network) protocol, and is configured to be capable of data communication with other ECUs mounted on the vehicle.

  As shown in FIG. 1, the ECU 1 includes a CAN controller 2 that controls communication with other ECUs according to the CAN protocol, a CAN transceiver 3 for transmitting and receiving data between the CAN controller 2 and the CAN bus BS1, By exchanging messages with other ECUs via the CAN controller 2, a control unit 4 that executes various processes in cooperation with the other ECUs is provided.

The CAN transceiver 3 is configured to reliably transmit and receive signals that satisfy the electrical condition of the CAN bus defined in advance.
The CAN controller 2 includes a data storage unit 21 provided with a plurality (32 in this embodiment) of mailboxes MB for storing messages transmitted and received between ECUs, and messages based on the stored values of the mailbox MB. Transmission control to frame and transmit to the CAN bus BS1 via the CAN transceiver 3, reception control to receive the frame via the CAN transceiver 3 and extract a message, etc., bus right when a frame collides on the bus A protocol core unit 22 that executes communication control according to the CAN protocol, such as arbitration control, and an access control unit 23 that controls access to the data storage unit 21 during transmission control and reception control of the protocol core unit 22 are provided. Yes.

  Each mailbox MB provided in the data storage unit 21 is assigned a box number (an integer value of 0 to 31 in this embodiment) for identifying the mailbox.

  Each mailbox MB stores a CANID register R1 for storing an identification code (hereinafter referred to as CANID) indicating a message type and priority, a message transmitted on a frame, or a message extracted from a received frame. Message register R2 for storing, transmission / reception setting register R3 for storing transmission / reception setting information indicating how to use the mailbox (for transmission / reception), and DLC (Data Length Code) indicating the data length of the message A DLC register R4 is provided.

  The control unit 4 includes a CPU 41, a ROM 42, and a RAM 43, and executes various processes by the CPU 41 executing processes based on programs stored in the ROM 42. For example, when there is a message to be transmitted to another ECU, the CANID corresponding to the message is specified from the content of the message, and the message is stored in the message register R2 of the mailbox MB in which the specified CANID is set. .

  When the control unit 4 receives a notification from the CAN controller 2 that the frame has been received, the control unit 4 reads the contents of the message register R2 of the mailbox MB in which the transmission / reception setting register R3 is set for reception, thereby A message from the ECU is received.

  Further, the ROM 42 of the control unit 4 stores a CANID corresponding to the box number of each mailbox MB, transmission / reception setting information, and a mailbox setting specification MBS (see FIG. 10) in which DLC is set.

  First, the procedure of the CAN initialization process executed by the control unit 4 will be described with reference to FIG. FIG. 2 is a flowchart showing the CAN initialization process. This CAN initialization process is a process executed only once immediately after the ECU 1 is activated.

  When this CAN initialization process is executed, the CPU 41 of the control unit 4 first executes a bit sticking inspection process (details will be described later) for checking the bit sticking of the mailbox MB in S10. Thereafter, in S20, control register setting for performing various settings of the CAN controller 2 is executed.

  Next, in S30, a mailbox setting process (details will be described later) for register setting of the mailbox MB is executed, and in S40, the communication speed of the CAN controller 2 is set, and the CAN initialization process is terminated. . And CAN communication is started after the end of this CAN initialization process.

Next, the procedure of the bit sticking inspection process executed in S10 will be described with reference to FIG. FIG. 3 is a flowchart showing the bit sticking inspection process.
When the bit sticking inspection process is executed, the CPU 41 of the control unit 4 first determines in S110 whether or not there is a mailbox MB that has not been subjected to the bit sticking inspection (hereinafter also referred to as an unchecked mailbox MB). Judging. If an unchecked mailbox MB exists (S110: YES), one mailbox MB is selected from the unchecked mailbox MB at S120.

  In S130, for the mailbox MB selected in S120, the test data is written in the message register R2, and in S140, the data is read out and read from the message register R2 of the mailbox MB in which the test data is written. Check data against test data.

  Thereafter, in S150, for the mailbox MB selected in S120, the inspection data is written into the CANID register R1, and in S160, the data is read out and read from the CANID register R1 of the mailbox MB in which the inspection data is written. Check data against test data.

  Further, in S170, for the mailbox MB selected in S120, the inspection data is written in the DLC register R4, and in S180, the data is read out from the DLC register R4 of the mailbox MB in which the inspection data is written. Check data against test data.

  In S190, the collation results in S140, S160, and S180 (hereinafter referred to as bit sticking inspection collation results) are stored in the RAM 43, and then the process proceeds to S110. On the other hand, if there is no unchecked mailbox MB in S110, that is, if the sticking inspection is performed on all the mailboxes MB (S110: NO), the bit sticking inspection process is terminated.

Next, the procedure of the mailbox setting process executed in S30 will be described with reference to FIG. FIG. 4 is a flowchart showing the mailbox setting process.
When the mailbox setting process is executed, the CPU 41 of the control unit 4 first sets the value of the box number counter C1 indicating the box number of the mailbox MB to 0 in S210. Next, in S220, it is determined whether or not there is a message in which the mailbox is not set in the mailbox setting specification MBS stored in the ROM 42 (hereinafter referred to as an unset message). Here, when there is no unset message (S220: NO), that is, when the mailbox MB is set for all messages described in the mailbox setting specification MBS, the mailbox setting process is performed. finish. On the other hand, if there is an unset message (S220: YES), an unset message with the smallest box number of the mailbox MB among the unset messages described in the mailbox setting specification MBS in S230. Select.

  Then, in S240, whether or not the mailbox MB having the box number indicated by the box number counter C1 (hereinafter referred to as counter-indicating mailbox MB) is normal is determined based on the bit sticking inspection collation result stored in the RAM 43. Judgment. Here, when the counter instruction mailbox MB is normal (S240: YES), in S250, the transmission / reception setting register R3 of the counter instruction mailbox MB is set to “for transmission” or based on the mailbox setting specification MBS. Set “Receive”.

  Thereafter, in S260, it is determined whether or not the transmission / reception setting register R3 of the counter instruction mailbox MB is set to “for reception”. If “for receiving” is set (S260: YES), CANID is set in CANID register R1 of counter instruction mailbox MB based on mailbox setting specification MBS in S270. In S280, ID filter setting is performed so that only messages having the CANID set in the CANID register R1 can be stored. In step S290, the box number counter C1 is incremented (added by 1), the process proceeds to step S220, and the above-described processing is repeated.

  On the other hand, if it is not set to “for receiving” (S260: NO), it is determined that it is set to “for sending”, and the counter instruction mail is determined based on the mailbox setting specification MBS at S300. CANID is set in the CANID register R1 of the box MB. In step S290, the box number counter C1 is incremented (added by 1), the process proceeds to step S220, and the above-described processing is repeated.

  In S240, if the selected mailbox MB is abnormal due to bit sticking (S240: NO), in S310, the mailbox MB for which no register setting has been performed (hereinafter, unset mailbox MB). It is also determined whether or not there exists. Specifically, when the value of the box number counter C1 is less than 31, it is determined that an unset mailbox MB exists.

  If no unset mailbox MB exists (S310: NO), the mailbox setting process is terminated. On the other hand, when there is an unset mailbox MB (S310: YES), the box number counter C1 is incremented (added by 1) in S320, the process proceeds to S240, and the above processing is repeated.

  In the electronic control device 1 configured as described above, a plurality of mailboxes MB storing at least a message and a CANID indicating the type of message, a message and a CANID are extracted from the mailbox MB, and extracted from the mailbox MB. When a frame with a CANID extracted from the mailbox MB is added to the received message and transmitted to the CAN bus BS1, and the frame is received via the CAN bus BS1, the message and the CANID are received from the received frame. Whether the mailbox MB storing the CANID that is extracted and storing the CANID that matches the extracted CANID is provided with the CAN controller 2 that stores the message extracted from the frame, and bit sticking has occurred for each of the plurality of mailboxes MB Whether or not To cross (S10). Of the plurality of mailboxes MB, the mailbox MB for which it is determined that no bit sticking has occurred (S240: YES), by storing the CANID in the mailbox MB, (S250 to S300) and prohibiting storage of CANID in the mailbox MB for the mailbox MB determined to have bit sticking (S240: NO). This prohibits allocation for storing messages.

  Thus, a normal mailbox MB is allocated for message storage, while an abnormal mailbox MB is not allocated for message storage. Accordingly, it is possible to suppress the occurrence of a situation in which communication of a message to which the abnormal mailbox MB is assigned cannot be performed due to an abnormality in the mailbox MB, and it is possible to improve communication reliability.

Conventionally, as shown in FIG. 5, a mailbox setting process has been executed. FIG. 5 is a flowchart showing a conventional mailbox setting process.
When the conventional mailbox setting process is executed, the value of the box number counter C1 is first set to 0 in S1010 as shown in FIG. In step S1020, it is determined whether there is an unset message. If no unset message exists (S1020: NO), the mailbox setting process is terminated. On the other hand, if there is an unset message (S1020: YES), in S1030, the unset message with the smallest box number of the mailbox MB among the unset messages described in the mailbox setting specification MBS. Select.

  In S1040, based on the mailbox setting specification MBS, the transmission / reception setting register R3 of the mailbox MB (counter instruction mailbox MB) having the box number indicated by the box number counter C1 is set to “for transmission” or “for reception”. Set.

  Thereafter, in S1050, it is determined whether or not the transmission / reception setting register R3 of the counter instruction mailbox MB is set to “for reception”. If “for receiving” is set (S1050: YES), CANID is set in CANID register R1 of counter instruction mailbox MB based on mailbox setting specification MBS in S1060. In S1070, ID filter setting is performed so that only messages having CANID set in CANID register R1 can be stored. In S1080, the box number counter C1 is incremented (added by 1), and the process proceeds to S1020 to repeat the above processing.

  On the other hand, if “for receiving” is not set (S1050: NO), CANID is set in CANID register R1 of counter instruction mailbox MB based on mailbox setting specification MBS in S1090. In S1080, the box number counter C1 is incremented (added by 1), and the process proceeds to S1020 to repeat the above processing.

  That is, in the conventional mailbox setting process, the setting is performed for each mailbox according to the setting of the mailbox setting specification MBS regardless of whether or not the bit lock has occurred in the mailbox MB. For example, when CANID, transmission / reception setting information, and DLC related to a mailbox with a box number 5 (hereinafter referred to as mailbox MB05) are described in the mailbox setting specification MBS, bit sticking occurs in the mailbox MB05. Even so, based on the description of the mailbox setting specification MBS, the CANID, transmission / reception setting information, and DLC regarding the mailbox MB05 are set in the mailbox MB05.

  In the embodiment described above, the electronic control device 1 is the communication device in the present invention, the mailbox MB of the CAN controller 2 is the first mailbox in the present invention, CANID is the identification code in the present invention, and the CAN controller 2 is the first in the present invention. 1 transmission / reception means, the process of S10 is an abnormality determination means in the present invention, the processes of S250 to S300 are the first allocation means in the present invention, and the branch when the determination in S240 is NO is the allocation prohibition means in the present invention.

(Second Embodiment)
A second embodiment of the present invention will be described below with reference to the drawings. In the second embodiment, only parts different from the first embodiment will be described.

The electronic control unit (ECU) 1 in the second embodiment is the same as that in the first embodiment except that the mailbox setting process is changed.
The mailbox setting process of the second embodiment is the same as that of the first embodiment except that the process of S230 is changed.

That is, the unset message with the smallest CANID is selected from the unset messages described in the mailbox setting specification MBS.
In the CAN (Controller Area Network) protocol, arbitration control for determining which frame is preferentially processed using CANID is performed by a technique called bit-unit non-destructive arbitration.

  That is, the signal level on the communication bus includes a dominant (dominant) and a recessive (inferior), and when a dominant and a recessive are simultaneously transmitted from a plurality of ECUs, the signal level on the bus becomes a dominant. In general, it is assumed that the theoretical value of dominant is 0 and the logical value of recessive is 1.

  That is, in a communication system using the CAN protocol, when a plurality of frames are transmitted simultaneously on the communication bus, the ECU that has transmitted the frame with the smallest logical value of the identification code obtains the transmission right. In general, a CANID having a smaller logical value is assigned so that a higher priority frame is preferentially transmitted even if a collision with another frame occurs.

  That is, in the electronic control unit (ECU) 1 of the second embodiment, the mailboxes MB are assigned in order from the message corresponding to the CANID having the higher priority. As a result, even if the number of normal mailboxes MB is smaller than the number of messages set in the mailbox setting specification MBS, communication of important messages cannot be performed due to an abnormality in the mailbox MB. It is possible to suppress the occurrence of the situation and further improve the reliability of communication.

(Third embodiment)
A third embodiment of the present invention will be described below with reference to the drawings. In the third embodiment, only parts different from the second embodiment will be described.

  The electronic control device 1 according to the third embodiment is the same as the second embodiment except that the mailbox setting process is changed. FIG. 6 is a flowchart showing a mailbox setting process according to the third embodiment.

As shown in FIG. 6, the mailbox setting process of the third embodiment is the same as that of the second embodiment except that the processes of S410 to S440 are added.
That is, in S310, when there is no unset mailbox MB (S310: NO), in S410, the unset message selected in S230 based on the mailbox setting specification MBS is set to “receiving”. Determine whether it is set.

  If the unset message is set to “receiving” (S410: YES), the mailbox having the largest box number among the mailboxes MB set to “receiving” in S420. By changing the ID filter of the MB (hereinafter referred to as the previously set reception mailbox MB), not only the message having the CANID stored in the CANID register R1 of this immediately set reception mailbox MB but also the selection in S230 The ID filter setting of the immediately-set reception mailbox MB is performed so that the set unset message can also be stored, and then the process proceeds to S220 and the above-described processing is repeated. Specifically, the bit having a different value is compared with the CANID stored in the CANID register R1 of the immediately-set reception mailbox MB and the CANID set in the unset message selected in S230. The ID filter setting of the reception mailbox MB that has been set immediately before is performed so as to allow storage of a message that is masked and the remaining bits that are not masked have the same CANID.

  On the other hand, if the unset message is set to “for sending” (S410: NO), the mailbox MB having the largest box number among the mailboxes MB set to “for sending” in S430. (Hereinafter referred to as the immediately-set transmission mailbox MB) is set so that it can be shared. Further, in S440, the storage capacity of a storage area (hereinafter referred to as a shared transmission buffer) provided in the RAM 43 of the control unit 4 for temporarily storing a message before being stored in the immediately set transmission mailbox MB. Is increased by the data length of the unset message selected in S230, and then the process proceeds to S220 to repeat the above process.

  In the electronic control device 1 configured as described above, when there is a reception message (hereinafter referred to as an unassigned reception message) that is not assigned to the mailbox MB as a result of the assignment of the mailbox MB. (S310: NO, S410: YES), the mailbox MB having the largest box number among the mailboxes MB set to “receiving” (the reception mailbox MB set immediately before) is already assigned for reception. In addition to the message, setting is made so that an unallocated reception message can be stored (S420).

  Further, as a result of the assignment of the mailbox MB, if there is a transmission message that is not assigned to the mailbox MB (hereinafter referred to as an unassigned transmission message) (S310: NO, S410: NO), For the mailbox MB having the largest box number among the mailboxes MBs set to “for sending” (hereinafter referred to as the previously set outgoing mailbox MB), in addition to the already assigned transmission message, unassigned transmission A setting is made so that the trust message can be stored (S430).

  Thereby, one mailbox MB can be shared for storing a plurality of messages. For this reason, even when the number of normal mailboxes MB is smaller than the number of messages set in the mailbox setting specification MBS, there is a situation in which message communication cannot be performed due to a shortage of mailboxes. The reliability of communication can be further improved.

  In addition, the mailbox MB storing the CANID having the lowest priority among the mailboxes storing the identification code (that is, the previously set reception mailbox MB or the immediately set transmission mailbox MB) is not stored. It can be a mailbox MB for storing a message in common with an assigned reception message or an unassigned transmission message. That is, a situation occurs in which a mailbox MB for storing a message having a high priority is set as a mailbox MB for storing a message in common with an unassigned reception message or an unassigned transmission message. Can be suppressed. For this reason, it is possible to suppress the occurrence of a situation in which an important message cannot be communicated due to an abnormality caused by the sharing setting of the mailbox MB, and to further improve the reliability of communication.

  In the embodiment described above, the mailbox MB set for “transmission” in the CAN controller 2 is the first mailbox for transmission in the present invention, and the mailbox MB set for “reception” in the CAN controller 2 is the main mailbox. The first mailbox for reception in the invention, the process of S430 is the transmission share setting means in the present invention, and the process of S420 is the reception share setting means in the present invention.

(Fourth embodiment)
A fourth embodiment of the present invention will be described below with reference to the drawings. In the fourth embodiment, only parts different from the first embodiment will be described.

The electronic control device 1 according to the fourth embodiment is the same as the first embodiment except that the configuration of the electronic control device 1 and the mailbox setting process are changed.
FIG. 7 is a block diagram illustrating a configuration of the electronic control device 1 according to the fourth embodiment.

  As shown in FIG. 7, the electronic control device 1 according to the fourth embodiment includes a point where a CAN controller 6 is added, a point where the CAN controller 6 and the CAN transceiver 3 are connected so as to be able to input and output data, and a CAN controller. 6 and the control unit 4 are the same as those in the first embodiment except that the CAN bus BS2 different from the CAN bus BS1 is connected to the CAN transceiver 3 and the control unit 4 is connected to the CAN transceiver BS1.

First, the CAN controller 6 includes a data storage unit 61, a protocol core unit 62, and an access control unit 63, similar to the CAN controller 2.
The CAN transceiver 3 is normally set to have a function of transmitting / receiving data between the CAN controller 2 and the CAN bus BS1 and a function of transmitting / receiving data between the CAN controller 6 and the CAN bus BS2. ing. However, the CAN transceiver 3 is set to have a function of transmitting and receiving data between the CAN controller 6 and the CAN bus BS1 in accordance with a mailbox sharing command from the control unit 4.

FIG. 8 is a flowchart illustrating mailbox setting processing according to the fourth embodiment.
As shown in FIG. 8, the mailbox setting process of the fourth embodiment is the same as that of the first embodiment except that the process of S240 is changed and the processes of S510 to S520 are added.

  That is, if there is no unset mailbox MB in S310 (S310: NO), it is determined in S510 whether the CAN controller 6 is unused. If the CAN controller 6 is in use (S510: NO), the mailbox setting process is terminated.

  On the other hand, if the CAN controller 6 is not used (S510: YES), the above-mentioned mailbox sharing command is output to the CAN transceiver 3 in S520, whereby the CAN controller 6 and the CAN bus BS1 are connected. The CAN transceiver 3 is set so that data can be transmitted and received (that is, the mailbox MB of the CAN controller 6 is set so that it can be shared on the CAN controller 2 side), and the process proceeds to S320.

  In S240, if the value of the box number counter C1 is 0 or more and 31 or less, the RAM 43 determines whether or not the mailbox MB having the box number indicated by the box number counter C1 is normal for the CAN controller 2. Judgment is made on the basis of the bit sticking inspection collation result stored in the table.

  Further, in S240, when the value of the box number counter C1 is not less than 32 and not more than 62, the mailbox controller MB having a box number that matches the value obtained by subtracting 32 from the value of the box number counter C1 is normal. It is determined based on the result of bit sticking inspection collation stored in the RAM 43. For example, if the value of the box number counter C1 is 34, it is determined whether or not the mailbox MB having the box number 3 for the CAN controller 6 is normal.

  Therefore, when the value of the box number counter C1 is not less than 32 and not more than 62, register setting or the like is performed for the mailbox MB of the CAN controller 6 by the processing of S250 to S300.

  As a result, even when all messages described in the mailbox setting specification MBS cannot be assigned to the mailbox MB in the CAN controller 2, the mailbox MB in the CAN controller 6 is used. All messages described in the mailbox setting specification MBS can be assigned to the mailbox MB.

  In the electronic control device 1 configured as described above, when a message that has not been assigned to the mailbox MB (hereinafter referred to as an unassigned message) exists as a result of the assignment of the mailbox MB (S310: NO). ), It is determined whether or not the CAN controller 6 is in use (S510). If it is determined that the CAN controller 6 is not in use (510: NO), this mail is sent to the mailbox MB of the CAN controller 6 By storing the CANID of the unallocated message in the box MB, the mailbox MB of the CAN controller 6 storing the CANID is allocated for storing the unallocated message (S520, S320, S240 to S300).

  Thus, the mailbox MB of the CAN controller 6 can be used to store messages transmitted and received by the CAN controller 2. For this reason, even if the number of normal mailboxes MB of the CAN controller 2 is smaller than the number of messages set in the mailbox setting specification MBS, message communication cannot be performed due to a shortage of mailboxes. It is possible to suppress the occurrence of the situation and further improve the reliability of communication.

  In the embodiment described above, the mailbox MB of the CAN controller 6 is the second mailbox in the present invention, the CAN controller 6 is the second transmitting / receiving means in the present invention, and the processing in S510 is the second transmitting / receiving use determining means in the present invention, S520. , S320, S240 to S300 are the second allocation means in the present invention.

As mentioned above, although one Embodiment of this invention was described, this invention is not limited to the said embodiment, As long as it belongs to the technical scope of this invention, a various form can be taken.
For example, in the first embodiment, for the messages described in the mailbox setting specification MBS, the mailbox MB is set in order from the message associated with the smaller box number. Therefore, for each message, the degree of influence on the control system of the vehicle on which the electronic control device 1 is mounted is determined, and the designer can send a message so that a message with a high degree of influence is listed in the message specification MS. The definition order may be changed. As a result, in the mailbox setting specification MBS, a message having a high influence degree can be associated with a small box number, and a message having a high influence degree can be preferentially assigned to the mailbox MB.

  For example, as shown in FIG. 9, the message specification MS11 described without considering the degree of influence on the control system is described in the order of diagnostic data, immobility data, torque data, vehicle speed data, and water temperature data from the top. On the other hand, when the degree of influence on the control system is, for example, diagnosis data <vehicle speed data <water temperature data <torque data <imobi data, the message specification MS12 described in consideration of the degree of influence on the control system is It is described in the order of immobility data, torque data, water temperature data, vehicle speed data, and diagnostic data.

  As a result, even if the number of normal mailboxes MB is smaller than the number of messages set in the mailbox setting specification MBS, communication of important messages cannot be performed due to an abnormality in the mailbox MB. It is possible to suppress the occurrence of the situation and further improve the reliability of communication.

  DESCRIPTION OF SYMBOLS 1 ... Electronic control apparatus, 2 ... CAN controller, 3 ... CAN transceiver, 4 ... Control part, 6 ... CAN controller, 21 ... Data storage part, 22 ... Protocol core part, 23 ... Access control part, 41 ... CPU, 42 ... ROM, 43 ... RAM, 61 ... Data storage unit, 62 ... Protocol core unit, 63 ... Access control unit, MB ... Mailbox, R1 ... CANID register, R2 ... Message register, R3 ... Transmission / reception setting register, R4 ... DLC register

Claims (7)

A plurality of first mailboxes storing at least a message and an identification code indicating the type of the message;
The message and the identification code are extracted from the first mailbox, and a frame in which the identification code extracted from the first mailbox is added to the message extracted from the first mailbox is formed on the communication bus. When the frame is received via the communication bus, the message and the identification code are extracted from the received frame, and the identification code that matches the extracted identification code is stored. A first transmission / reception means for storing the message extracted from the frame in the first mailbox;
Abnormality determining means for determining whether an abnormality has occurred in each of the plurality of first mailboxes;
Of the plurality of first mailboxes, for the first mailbox determined by the abnormality determination means that no abnormality has occurred, the identification code is stored in the first mailbox, thereby the first mailbox. First allocating means for allocating one mailbox for storing the message corresponding to the identification code;
By prohibiting storage of the identification code in the first mailbox for the first mailbox determined by the abnormality determination means that an abnormality has occurred among the plurality of first mailboxes. Allocation prohibiting means for prohibiting allocation for storing the message ,
Each of the plurality of messages has a preset priority,
The first assigning means includes
Among the plurality of messages, assign the first mailbox in order from the message with the highest priority,
The first mailbox is
The first assigning means stores a transmission first mailbox for storing a transmission message that is a message transmitted by the first transmission / reception means, and a reception message that is a message received by the first transmission / reception means. Assigned to one of the primary mailboxes for receiving,
As a result of the assignment of the first mailbox by the first assigning means, there is an unassigned transmission message that is the transmission message that has not been assigned to the first mailbox. The first mailbox that satisfies a preset transmission box selection condition is selected from the first mailboxes that are allocated as the first mailbox for transmission by the assigning means, and the selected first transmission mailbox is selected. A communication apparatus comprising: a transmission sharing setting unit configured to store the unallocated transmission message in addition to the already allocated transmission message for a mailbox . A plurality of first mailboxes storing at least a message and an identification code indicating the type of the message;
The message and the identification code are extracted from the first mailbox, and a frame in which the identification code extracted from the first mailbox is added to the message extracted from the first mailbox is formed on the communication bus. When the frame is received via the communication bus, the message and the identification code are extracted from the received frame, and the identification code that matches the extracted identification code is stored. A first transmission / reception means for storing the message extracted from the frame in the first mailbox;
Abnormality determining means for determining whether an abnormality has occurred in each of the plurality of first mailboxes;
Of the plurality of first mailboxes, for the first mailbox determined by the abnormality determination means that no abnormality has occurred, the identification code is stored in the first mailbox, thereby the first mailbox. First allocating means for allocating one mailbox for storing the message corresponding to the identification code;
By prohibiting storage of the identification code in the first mailbox for the first mailbox determined by the abnormality determination means that an abnormality has occurred among the plurality of first mailboxes. Allocation prohibiting means for prohibiting allocation for storing the message,
The first transmission / reception means performs transmission / reception according to a CAN (Controller Area Network) protocol,
The first assigning means includes
Assigning the first mailbox by storing in the first mailbox in ascending order of the value of the identification code among the plurality of identification codes;
The first mailbox is
The first assigning means stores a transmission first mailbox for storing a transmission message that is a message transmitted by the first transmission / reception means, and a reception message that is a message received by the first transmission / reception means. Assigned to one of the primary mailboxes for receiving,
As a result of the assignment of the first mailbox by the first assigning means, there is an unassigned transmission message that is the transmission message that has not been assigned to the first mailbox. The first mailbox that satisfies a preset transmission box selection condition is selected from the first mailboxes that are allocated as the first mailbox for transmission by the assigning means, and the selected first transmission mailbox is selected. Transmission share setting means for setting the mailbox so that the unallocated transmission message can be stored in addition to the transmission message already allocated
A communication device. A plurality of first mailboxes storing at least a message and an identification code indicating the type of the message;
The message and the identification code are extracted from the first mailbox, and a frame in which the identification code extracted from the first mailbox is added to the message extracted from the first mailbox is formed on the communication bus. When the frame is received via the communication bus, the message and the identification code are extracted from the received frame, and the identification code that matches the extracted identification code is stored. A first transmission / reception means for storing the message extracted from the frame in the first mailbox ;
Abnormality determining means for determining whether an abnormality has occurred in each of the plurality of first mailboxes;
Of the plurality of first mailboxes, for the first mailbox determined by the abnormality determination means that no abnormality has occurred, the identification code is stored in the first mailbox, thereby the first mailbox. First allocating means for allocating one mailbox for storing the message corresponding to the identification code;
By prohibiting storage of the identification code in the first mailbox for the first mailbox determined by the abnormality determination means that an abnormality has occurred among the plurality of first mailboxes. Allocation prohibiting means for prohibiting allocation for storing the message,
Each of the plurality of messages has a preset priority,
The first assigning means includes
Among the plurality of messages, assign the first mailbox in order from the message with the highest priority,
The first mailbox is
The first assigning means stores a transmission first mailbox for storing a transmission message that is a message transmitted by the first transmission / reception means, and a reception message that is a message received by the first transmission / reception means. Assigned to one of the primary mailboxes for receiving,
As a result of the assignment of the first mailbox by the first assigning means, there is an unassigned reception message that is the reception message that has not been assigned to the first mailbox. The first mailbox selected by the assigning means as the first mailbox for reception is selected from the first mailboxes that satisfy a predetermined reception box selection condition, and the selected first reception mailbox is selected. Receiving sharing setting means for setting the mailbox so that the unallocated receiving message can be stored in addition to the already allocated receiving message
A communication device. A plurality of first mailboxes storing at least a message and an identification code indicating the type of the message;
The message and the identification code are extracted from the first mailbox, and a frame in which the identification code extracted from the first mailbox is added to the message extracted from the first mailbox is formed on the communication bus. When the frame is received via the communication bus, the message and the identification code are extracted from the received frame, and the identification code that matches the extracted identification code is stored. A first transmission / reception means for storing the message extracted from the frame in the first mailbox;
Abnormality determining means for determining whether an abnormality has occurred in each of the plurality of first mailboxes;
Of the plurality of first mailboxes, for the first mailbox determined by the abnormality determination means that no abnormality has occurred, the identification code is stored in the first mailbox, thereby the first mailbox. First allocating means for allocating one mailbox for storing the message corresponding to the identification code;
By prohibiting storage of the identification code in the first mailbox for the first mailbox determined by the abnormality determination means that an abnormality has occurred among the plurality of first mailboxes. Allocation prohibiting means for prohibiting allocation for storing the message,
The first transmission / reception means performs transmission / reception according to a CAN (Controller Area Network) protocol,
The first assigning means includes
Assigning the first mailbox by storing in the first mailbox in ascending order of the value of the identification code among the plurality of identification codes;
The first mailbox is
The first assigning means stores a transmission first mailbox for storing a transmission message that is a message transmitted by the first transmission / reception means, and a reception message that is a message received by the first transmission / reception means. Assigned to one of the primary mailboxes for receiving,
As a result of the assignment of the first mailbox by the first assigning means, there is an unassigned reception message that is the reception message that has not been assigned to the first mailbox. The first mailbox selected by the assigning means as the first mailbox for reception is selected from the first mailboxes that satisfy a predetermined reception box selection condition, and the selected first reception mailbox is selected. Receiving sharing setting means for setting the mailbox so that the unallocated receiving message can be stored in addition to the already allocated receiving message
A communication device. A plurality of first mailboxes storing at least a message and an identification code indicating the type of the message;
The message and the identification code are extracted from the first mailbox, and a frame in which the identification code extracted from the first mailbox is added to the message extracted from the first mailbox is formed on the communication bus. When the frame is received via the communication bus, the message and the identification code are extracted from the received frame, and the identification code that matches the extracted identification code is stored. A first transmission / reception means for storing the message extracted from the frame in the first mailbox;
Abnormality determining means for determining whether an abnormality has occurred in each of the plurality of first mailboxes;
Of the plurality of first mailboxes, for the first mailbox determined by the abnormality determination means that no abnormality has occurred, the identification code is stored in the first mailbox, thereby the first mailbox. First allocating means for allocating one mailbox for storing the message corresponding to the identification code;
By prohibiting storage of the identification code in the first mailbox for the first mailbox determined by the abnormality determination means that an abnormality has occurred among the plurality of first mailboxes. Allocation prohibiting means for prohibiting allocation for storing the message;
A plurality of second mailboxes storing at least a message and an identification code indicating the type of the message;
The message and the identification code are extracted from the second mailbox, and a frame in which the identification code extracted from the second mailbox is added to the message extracted from the mailbox is transmitted on the communication bus. In addition, when the frame is received via the communication bus, the message and the identification code are extracted from the received frame, and the identification code that matches the extracted identification code is stored. Second transmitting / receiving means for storing the message extracted from the frame in a second mailbox;
Whether or not the second transmitting / receiving means is in use when there is an unassigned message that is the message that has not been assigned to the mailbox as a result of the assignment of the mailbox by the first assigning means. Second transmission / reception usage determining means for determining whether or not
When the second transmission / reception use determining unit determines that the second transmission / reception unit is not in use, for the second mailbox, by storing the identification code of the unallocated message in the second mailbox, Second allocating means for allocating the second mailbox storing the identification code for storing the unallocated message.
A communication device. The transmission box selection condition is as follows:
One of the first mailbox assigned by the first allocation means, slowest allocated the fact that it is a first mailbox for sending and wherein the claim 1, wherein the first allocation means Item 3. The communication device according to Item 2 . The inbox selection condition is:
Among assigned the first mailbox by said first allocation unit, slowest allocated is that it is the first mailbox for the reception be characterized according to claim 3, wherein the first allocation means Item 5. The communication device according to Item 4 .

Images