CN102984096B - Assembling method for controller area network (CAN) data frames applied in ship dynamic information acquisition device - Google Patents
Assembling method for controller area network (CAN) data frames applied in ship dynamic information acquisition device Download PDFInfo
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- CN102984096B CN102984096B CN201210388058.9A CN201210388058A CN102984096B CN 102984096 B CN102984096 B CN 102984096B CN 201210388058 A CN201210388058 A CN 201210388058A CN 102984096 B CN102984096 B CN 102984096B
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Abstract
The invention discloses an assembling method for controller area network (CAN) data frames applied in a ship dynamic information acquisition device, and relates to the field of CAN buses of the ship dynamic information acquisition. The assembling method comprises the following steps: setting a unique identity (ID) for each equipment chassis and each acquisition board inside each equipment chassis, setting numbers for a channel of each acquisition board in order, wherein each route of data of multiple routes of the data sent by each acquisition board corresponds to a channel number, and packaging the numbers of the equipment chassis ID, the acquisition board ID inside the equipment chassis, and the acquisition board channel in the CAN data frames. The assembling method for the CAN data frames applied in the ship dynamic information acquisition device realizes confirmation of identifiers in the CAN data frames and distribution of data bytes, and is capable of satisfying requirements of CAN communication of the ship dynamic information acquisition device.
Description
Technical field
The present invention relates to the CAN field of ship power information gathering, particularly relate to a kind of assemble method being applied to the CAN Frame of ship power information collecting device.
Background technology
CAN(Controller Area Network, controller local area network) be a kind of maturation, the reliable and serial communication network of being used widely in the world.CAN protocol specification is the specification that all CAN networks are observed jointly, but it is the agreement of the most basic bottom, and user must designed, designed application layer protocol.Current You Ji company, such as CANopen, DeviceNet etc., develop the CAN application layer protocol of versatility, select for user, but the application layer protocol more complicated of this versatility, and be not suitable for the professional domains such as ship power information gathering.
Summary of the invention
The object of the invention is the deficiency in order to overcome above-mentioned background technology, a kind of assemble method being applied to the CAN Frame of ship power information collecting device is provided, achieve the distribution of the fixed sum data byte really of identifier in CAN Frame, the CAN communication requirement of ship power information collecting device can be met.
The invention provides a kind of assemble method being applied to the CAN Frame of ship power information collecting device, described ship power information collecting device comprises: 1 ~ 64 equipment cabinets, with the shielding case of electric connector, be positioned at the data collection host of shielding case and be positioned at the backboard of data collection host, data collection host comprises at least 3 CAN module (A to redundancy each other, A ', B, B ', C, C '), 1 network exchange module, the switch management module of 1 pair of redundancy each other, the data processing module of 1 pair of redundancy each other, the power module of 1 pair of redundancy each other, light isolation module, the CAN module of every a pair redundancy each other provides 4 CAN passages, each equipment cabinets comprises 1 ~ 16 collection plate, and each collection plate provides 1 ~ 16 transmission channel, and each collection plate is provided with 1 CAN interface to redundancy each other, and corresponding data gathers 2 CAN passages of often pair of CAN module on main frame respectively, each data processing module is provided with 1 CAN interface to redundancy each other, all modules in data collection host are all connected with backboard, and backboard is connected with the electric connector on shielding case, and the electric connector on shielding case is connected with the equipment cabinets of data collection host outside, 220V power supply and display terminal respectively, data collection host connects each equipment cabinets by electric connector, by the data of collection plate in CAN module acquires equipment cabinets, and manage each functional module by switch management module, by data processing module, data collected, organize bag and logical process, adopt Ethernet mode that the data after data collection host acquisition process are mail to display terminal by network exchange module,
Be applied to the assemble method of the CAN Frame of described ship power information collecting device, comprise the following steps: to the collection plate in each equipment cabinets, equipment cabinets, unique ID is set, the passage of each collection plate is arranged numbering in order, the corresponding channel number of every circuit-switched data in the multichannel data that each collection plate sends, is all encapsulated into the collection plate ID in equipment cabinets ID, equipment cabinets, collection plate channel number in CAN Frame.
In technique scheme, described CAN Frame comprises 7 parts: frame starts, arbitrate territory, control domain, data field, CRC territory, Acknowledge and End of Frame, described arbitration territory comprises CAN identifier, CAN2.0 standard frame format is adopted to express the CAN identifier arbitrated in territory, be defined as ID10 ~ ID0, totally 11, comprise frame type, equipment cabinets ID and collection plate id information.
In technique scheme, the content of described CAN identifier is: ID10 represents frame type, ID10=0, represents normal frames; ID10=1, represents broadcast frame; ID9 ~ ID4 indication equipment cabinet ID, totally 6; Collection plate ID in ID3 ~ ID0 indication equipment cabinet, totally 4.
In technique scheme, the data field of described CAN Frame adopts 8 bytes to express 64 bit data, and comprise 2 circuit-switched data information, every circuit-switched data information has 4 bytes, comprises the data ID of 2 bytes and the unsigned int data value of 2 bytes.
In technique scheme, described data ID comprises collection plate ID, collection plate channel number in frame type, equipment cabinets ID, equipment cabinets.
In technique scheme, in the data field of described CAN Frame, a circuit-switched data information is by D
31~ D
0represent, wherein, D
31~ D
16for data ID, D
31position retains, and fills, D with 0
30for frame type, D
29~ D
24for equipment cabinets ID, D
23~ D
20for the collection plate ID in equipment cabinets, D
19~ D
16for collection plate channel number; D
15~ D
0for data value; D
30~ D
20these 11 identical with 11 CAN identifiers in the arbitration territory of described CAN Frame, if not identical, then shows that CAN Frame is wrong.
In technique scheme, described unsigned int data value is analog quantity or switching value.
In technique scheme, when described unsigned int data value is analog quantity, in ship power information collecting device, value is 0 ~ 20000, represents 0 ~ 20mA electric current.
In technique scheme, when described unsigned int data value is switching value, each represents a switching value, and 1 for opening, and 0, for closing, represents 16 bit switches in ship power information collecting device.
In technique scheme, described collection plate is current acquisition plate, electrical resistance collection plate or switch acquisition plate.
Compared with prior art, advantage of the present invention is as follows:
The present invention devises a kind of simple, CAN application layer protocol reliably on CAN protocol normative foundation, achieves the distribution of the fixed sum data byte really of identifier in CAN Frame, can meet the CAN communication requirement of ship power information collecting device.
Accompanying drawing explanation
Fig. 1 is the structural representation of ship power information collecting device in the embodiment of the present invention.
Fig. 2 is the formation schematic diagram of CAN Frame and 11 CAN identifiers in the embodiment of the present invention.
Fig. 3 is the structural representation of the data field of CAN Frame in the embodiment of the present invention.
Embodiment
Below in conjunction with drawings and the specific embodiments, the present invention is described in further detail.
Shown in Figure 1, ship power information collecting device comprises: 1 ~ 64 equipment cabinets, with the shielding case of electric connector, be positioned at the data collection host of shielding case and be positioned at the backboard of data collection host, data collection host comprises at least 3 CAN(Controller Area Network to redundancy each other, controller local area network) bus module (A, A ', B, B ', C, C '), 1 network exchange module, the switch management module of 1 pair of redundancy each other, the data processing module of 1 pair of redundancy each other, the power module of 1 pair of redundancy each other, light isolation module, the CAN module of every a pair redundancy each other provides 4 CAN passages.Each equipment cabinets comprises 1 ~ 16 collection plate, and each collection plate provides 1 ~ 16 transmission channel, and collection plate is current acquisition plate, electrical resistance collection plate or switch acquisition plate.Each collection plate is provided with 1 CAN interface to redundancy each other, and independently can send the data of this complete collection plate, corresponding data gathers 2 CAN passages of often pair of CAN module on main frame respectively.Each data processing module is provided with 1 CAN interface to redundancy each other.All modules in data collection host are all connected with backboard, and backboard is connected with the electric connector on shielding case, and the electric connector on shielding case is connected with the equipment cabinets of data collection host outside, 220V power supply and display terminal respectively.
Data collection host connects each equipment cabinets by electric connector, by the data of collection plate in CAN module acquires equipment cabinets, and manage each functional module by switch management module, by data processing module, data collected, organize bag and logical process, adopt Ethernet mode that the data after data collection host acquisition process are mail to display terminal by network exchange module.
Shown in Figure 1, the data that in equipment cabinets 1 ~ 6, each collection plate CAN interface 1 sends are together in parallel, and are connected to the CAN passage 1 of a pair CAN modules A in the CAN module of data collection host three pairs of redundancies and A '; Same, the data that in equipment cabinets 1 ~ 6, each collection plate CAN interface 2 sends are together in parallel, and are connected to the CAN passage 2 of CAN modules A and A '.The computing platform of data collection host adopts the very much higher level parallel processing platform of reliability, this hardware platform adopts highly reliable operating system and meets the middleware of high reliability.Data collection host adopts Distributed C AN structure, and use full redundancy mode, all CAN modules all deploy CAN module software, when receiving data, one of them CAN module receives data, another CAN module shield, as long as one in two passages normally work, CAN modules A and A ' can completely receive the data of equipment cabinets 1, when one of them CAN module breaks down, automatically switch to another CAN module immediately, guarantee not obliterated data, data acquisition unit still can normally work.
2 data processing modules in data collection host all deploy data processing module software, redundancy each other, and the data for sending CAN module carry out logical process and packing operation.Each data processing module is provided with 1 CAN interface to redundancy each other, all can completely output information.By redundant fashion deal with data, guarantee, when a data processing module breaks down, to be switched to another data processing module immediately, still can normally to complete data collection process function.2 switch management module all deploy switch management module software, redundancy each other, for completing the management function of each redundancy feature module.Because System Management Bus is also redundant mode, guarantee that management information is normal delivery still when a bus malfunctions like this.Any one in 2 power modules can complete independently function of supplying power, external 220V alternating voltage is converted into the voltage needed for each functional module, guarantees that power supply safety is reliable.
On the basis of above-mentioned ship power information collecting device, the embodiment of the present invention provides a kind of assemble method being applied to the CAN Frame of ship power information collecting device, comprise the following steps: to the collection plate in each equipment cabinets, equipment cabinets, unique ID is set, the passage of each collection plate is arranged numbering in order, each collection plate once can send multichannel data, the corresponding channel number of every circuit-switched data wherein, is all encapsulated into the collection plate ID in equipment cabinets ID, equipment cabinets, collection plate channel number in CAN Frame.
Shown in Figure 2, the CAN Frame of standard comprises 7 parts: frame starts, arbitrate territory, control domain, data field, CRC(Cyclic Redundancy Check, cyclic redundancy check (CRC)) territory, Acknowledge and End of Frame, arbitration territory comprises CAN identifier, CAN2.0 standard frame format is adopted to express the CAN identifier arbitrated in territory, be defined as ID10 ~ ID0, totally 11, comprise frame type, equipment cabinets ID and collection plate id information, the particular content of 11 CAN identifiers is: ID10 represents frame type, generally, ID10=0, represents normal frames; In emergency circumstances, ID10=1, represents broadcast frame; ID9 ~ ID4 indication equipment cabinet ID, can represent (00 ~ 3f) totally by 6
16totally 64 cabinets, wherein (00 ~ 0a)
16be reserved to data collection host to use, equipment cabinets, from 0b open numbering, is followed successively by 0b, 0c, 0d ... 3f; Collection plate ID in ID3 ~ ID0 indication equipment cabinet, can represent (00 ~ f) totally by 4
16totally 16 blocks of plates.Therefore, the CAN ID scope represented with above 11 bit identifiers is (0a0 ~ ff)
16.
The data field of CAN Frame adopts 8 bytes to express 64 bit data, comprise 2 circuit-switched data information, every circuit-switched data information has 4 bytes, comprise the data ID of 2 bytes and the unsigned int data value of 2 bytes, data ID comprises collection plate ID, collection plate channel number in frame type, equipment cabinets ID, equipment cabinets.
Shown in Figure 3, in the data field of CAN Frame, a circuit-switched data information is by D
31~ D
0represent, wherein, D
31~ D
16for data ID, wherein D
31position retains, and fills, D with 0
30for frame type, D
29~ D
24for equipment cabinets ID, D
23~ D
20for the collection plate ID in equipment cabinets, D
19~ D
16for collection plate channel number, 16 passages can be represented.D
30~ D
20these 11 identical with 11 CAN identifiers in the arbitration territory of CAN Frame, if not identical, then show that CAN Frame is wrong, therefore can play error detection mechanism.
D
15~ D
0for data value, being made up of the unsigned int data of 2 bytes, can be analog quantity or switching value, and when it is analog quantity, in ship power information collecting device, value is 0 ~ 20000, represents 0 ~ 20mA electric current; When it is switching value, each represents a switching value, and 1 for opening, and 0, for closing, can represent 16 bit switches in ship power information collecting device.
Therefore, the CAN application layer protocol of the embodiment of the present invention fully meets the particular demands of data acquisition unit, the information such as the collection plate in equipment cabinets and equipment cabinets are placed in respectively the data byte of CAN identifier and transmission, all can obtain the information such as the collection plate equipment cabinets and equipment cabinets from 11 standard CAN ID and data byte part, data byte and CAN ID also have error detection function.
Obviously, those skilled in the art can carry out various change and modification to the present invention and not depart from the spirit and scope of the present invention, if these amendments of the present invention and modification belong within the scope of the claims in the present invention and equivalent technologies thereof, then the present invention comprises these change and modification.The content be not described in detail in this specification belongs to the known prior art of professional and technical personnel in the field.
Claims (10)
1. be applied to an assemble method for the CAN Frame of ship power information collecting device, it is characterized in that:
Described ship power information collecting device comprises: 1 ~ 64 equipment cabinets, with electric connector shielding case, be positioned at the data collection host of shielding case and be positioned at the backboard of data collection host, data collection host comprises at least 3 to the CAN module of redundancy each other (A, A ', B, B ', C, C '), 1 network exchange module, 1 to the switch management module of redundancy each other, 1 to power module, the light isolation module of the data processing module of redundancy each other, 1 to redundancy each other, and each CAN module all provides 2 CAN passages; Each equipment cabinets comprises 1 ~ 16 collection plate, each collection plate provides 1 ~ 16 transmission channel, each collection plate is provided with 1 CAN interface to redundancy each other, and each CAN interface respectively corresponding data gathers 1 CAN passage of each CAN module in often pair of CAN module on main frame; Each data processing module is provided with 1 CAN interface to redundancy each other; All modules in data collection host are all connected with backboard, and backboard is connected with the electric connector on shielding case, and the electric connector on shielding case is connected with the equipment cabinets of data collection host outside, 220V power supply and display terminal respectively; Data collection host connects each equipment cabinets by electric connector, by the data of collection plate in CAN module acquires equipment cabinets, and manage each functional module by switch management module, by data processing module, data collected, organize bag and logical process, adopt Ethernet mode that the data after data collection host acquisition process are mail to display terminal by network exchange module;
Be applied to the assemble method of the CAN Frame of described ship power information collecting device, comprise the following steps: to the collection plate in each equipment cabinets, equipment cabinets, unique ID is set, the passage of each collection plate is arranged numbering in order, the corresponding channel number of every circuit-switched data in the multichannel data that each collection plate sends, is all encapsulated into the collection plate ID in equipment cabinets ID, equipment cabinets, collection plate channel number in CAN Frame.
2. be applied to the assemble method of the CAN Frame of ship power information collecting device as claimed in claim 1, it is characterized in that: described CAN Frame comprises 7 parts: frame starts, arbitrate territory, control domain, data field, CRC territory, Acknowledge and End of Frame, described arbitration territory comprises CAN identifier, CAN2.0 standard frame format is adopted to express the CAN identifier arbitrated in territory, be defined as ID10 ~ ID0, totally 11, comprise frame type, equipment cabinets ID and collection plate id information.
3. be applied to the assemble method of the CAN Frame of ship power information collecting device as claimed in claim 2, it is characterized in that: the content of described CAN identifier is: ID10 represents frame type, ID10=0, represent normal frames; ID10=1, represents broadcast frame; ID9 ~ ID4 indication equipment cabinet ID, totally 6; Collection plate ID in ID3 ~ ID0 indication equipment cabinet, totally 4.
4. be applied to the assemble method of the CAN Frame of ship power information collecting device as claimed in claim 2, it is characterized in that: the data field of described CAN Frame adopts 8 bytes to express 64 bit data, comprise 2 circuit-switched data information, every circuit-switched data information has 4 bytes, comprises the data ID of 2 bytes and the unsigned int data value of 2 bytes.
5. be applied to the assemble method of the CAN Frame of ship power information collecting device as claimed in claim 4, it is characterized in that: described data ID comprises collection plate ID, collection plate channel number in frame type, equipment cabinets ID, equipment cabinets.
6. be applied to the assemble method of the CAN Frame of ship power information collecting device as claimed in claim 5, it is characterized in that: in the data field of described CAN Frame, a circuit-switched data information is by D
31~ D
0represent, wherein, D
31~ D
16for data ID, D
31position retains, and fills, D with 0
30for frame type, D
29~ D
24for equipment cabinets ID, D
23~ D
20for the collection plate ID in equipment cabinets, D
19~ D
16for collection plate channel number; D
15~ D
0for data value; D
30~ D
20these 11 identical with 11 CAN identifiers in the arbitration territory of described CAN Frame, if not identical, then shows that CAN Frame is wrong.
7. be applied to the assemble method of the CAN Frame of ship power information collecting device as claimed in claim 4, it is characterized in that: described unsigned int data value is analog quantity or switching value.
8. be applied to the assemble method of the CAN Frame of ship power information collecting device as claimed in claim 7, it is characterized in that: when described unsigned int data value is analog quantity, in ship power information collecting device, value is 0 ~ 20000, represents 0 ~ 20mA electric current.
9. be applied to the assemble method of the CAN Frame of ship power information collecting device as claimed in claim 7, it is characterized in that: when described unsigned int data value is switching value, each represents a switching value, 1 for opening, 0, for closing, represents 16 bit switches in ship power information collecting device.
10. be applied to the assemble method of the CAN Frame of ship power information collecting device as claimed in any one of claims 1-9 wherein, it is characterized in that: described collection plate is current acquisition plate, electrical resistance collection plate or switch acquisition plate.
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| CN105406982A (en) * | 2015-10-20 | 2016-03-16 | 北京电子工程总体研究所 | CAN bus double redundancy heat backup method |
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| CN106875664B (en) * | 2017-04-18 | 2020-07-03 | 连云港杰瑞深软科技有限公司 | Exclusive data acquisition method based on CAN bus |
| CN110275654A (en) * | 2019-06-11 | 2019-09-24 | 中国船舶重工集团公司第七一九研究所 | Soft operation control method and equipment |
| CN110224913A (en) * | 2019-07-15 | 2019-09-10 | 珠海格力电器股份有限公司 | Data transmission method, device, data transmission system and equipment |
| CN110955172A (en) * | 2019-10-30 | 2020-04-03 | 中国船舶重工集团公司第七一九研究所 | Electric isolation type 0-20 mA driving circuit with output self-detection function |
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