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    • 专利摘要:
    process and device for serial data transmission with flexible message size and variable bit length. the present invention relates to a process for the serial transmission of data in a bus system with at least two bus subscribers who exchange messages over the bus, and the messages sent have a logical construction in accordance with the iso standard can 11898-1, where the logical construct contains a start-of-frame-bit, an arbitration field , a control field, a data field, a crc field, an acknowledge field, and an end-of-frame sequence. control field comprises a data length code that contains information about the length of the data field. the process is characterized by the fact that in the presence of a first identification (edl) the control field of the messages, diverging from the standard iso 11898-1 can, covers more than six bits, and in the presence of the first identification (edl) the The control field of the message is expanded by at least one more bit (esi), and through the additional bit (esi) or one of the other bits, information about the ?error passive? of the bus subscriber is integrated into outgoing messages.
    公开号:BR112013033658B1
    申请号:R112013033658-7
    申请日:2012-06-26
    公开日:2021-07-13
    发明作者:Florian Hartwich；Christian Horst
    申请人:Robert Bosch Gmbh；
    IPC主号:
    专利说明:

    The state of the art
    [001] The present invention relates to a process and a device, for example, a communications controller, for the serial transmission of data between at least two subscribers in a serial bus system.
    [002] For example, the standards of the ISO 11898-1 to 5 family are known as the Controller Area Network (CAN) and an extension of the CAN, called “Time Triggered CAN” (TTCAN), later also called the standard CAN. The media access control process used in CAN is based on bit-by-bit arbitration. In bit-by-bit arbitration, several subscriber stations can simultaneously transmit data through the bus system channel, without jeopardizing the data transmission. Subscriber stations can continue to ascertain the logical status (0 or 1) of a channel when transmitting a bit over the channel. If a value of the sent bit does not match the calculated logical state of the channel, then the subscriber station terminates access to the channel. In the case of CAN, bit-by-bit arbitration is usually done with the help of an identifier within a message to be transmitted over the channel. Once a subscriber station has completely sent the channel identifier, it knows that it has exclusive access to the channel. Thus, the end of transmission of the identifier corresponds to a beginning of a release interval within which the subscriber station can exclusively use the channel. According to the CAN protocol specification, other subscriber stations cannot access the channel, that is, transmit data to the channel, until the transmitting subscriber station has transmitted a checksum field (CRC Field) from the message. Therefore, the end of the CRC Field transmission corresponds to an end of the release interval.
    [003] Through bit-by-bit arbitration, therefore, a non-destructive transmission through the channel of that message that won the arbitration process is achieved. CAN protocols are especially suitable for the transmission of short messages under real-time conditions, and through the proper allocation of identifiers it can be ensured that especially important messages almost always win arbitration and are transmitted successfully.
    [004] With the increasing interconnection in networks of modern vehicles and the introduction of additional systems to improve, for example, the safety of locomotion or travel comfort, the demands on the amounts of data to be transmitted and the permissible reaction periods increase in the transmission. Examples of this are vehicle movement dynamics regulation systems, such as, for example, the ESP electronic stability program, driver assistance systems, such as, for example, ACC automatic distance regulation, or road information systems. driver such as, for example, recognition of traffic signs (see, for example, descriptions in “Bosch Kraftfahrtechnisches Handbuch”, 27th Edition 2011, publisher Vieweg + Teubner).
    [005] The document DE 103 11 395 describes a system, where asynchronous serial communication can take place alternatively through asymmetric physical CAN protocol or through symmetrical physical CAN protocol when a higher data transmission rate or data transmission security can be obtained larger for asynchronous communication.
    [006] The document DE 10 2007 051 657 A1 suggests applying in the time windows exclusive to the TTCAN protocol an asynchronous, fast, non-CAN compliant data transmission in order to increase the amount of data transmitted.
    [007] G. Cena and A. Valenzano discuss in “Overclocking of Con-trollerA Area Networks” (Electronic Letters, vol. 35, no. 22 (1999), page 1924) the consequences of a bus frequency overlap in areas of the messages to the data rate actually obtained.
    [008] It is evident that the state of the art does not provide satisfactory results in all aspects. The description of the present invention
    [009] The present invention is described below with its advantages with the help of drawings and execution examples. The object of the present invention is not restricted to the examples of execution shown and described. The advantages of the present invention
    [0010] The present invention presents a process for the serial transmission of data in a bus system with at least two bus subscribers who exchange messages over the bus, and the messages sent have a logical structure in accordance with the ISO standard CAN 11898-1. This means, messages transmitting data are constructed from a single “Start-Of-Frame” guide bit and a sequence of fields (Field) of several bits, precisely Arbitration Field, Control Field, Data Field, CRC Field, Acknowledge Field and End-of-Frame Field.
    [0011] The process is characterized by the fact that in the presence of a first identification the Control Field of the messages, diverging from the ISO 11898-1 standard CAN, comprises more than six bits, and in the presence of the first identification the Control Field of the message is extended by at least one more bit, and through the additional bit or one of the additional bits, information about the “Error Passive” status of the bus subscriber is integrated in sent messages. The advantage of the suggested process is the fact that with this process, bus subscribers that are in the “Error Passive” state can be clearly identified by the other bus subscribers.
    [0012] In a preferred embodiment, in the presence of the first identification, the message data field may contain, diverging from the ISO 11898-1 standard CAN, more than eight bytes, and for the verification of the data field size , the values of the four bits of the Data Length Code are interpreted at least partially, diverging from the standard CAN ISO 11898-1. In an especially preferred embodiment, in the presence of a second identification, the bit length for at least one predefined or predefinable area within the message takes on a shorter value compared to the bit length used before the presence. of the second identification, with the area starting not before the second identification, ending at the latest with the CRC Delimiter, and the second identification only happens in the presence of the first identification, occurring in the Control Field of the message which, in contrast to the ISO standard CAN 11898-1 comprises more than six bits. Compared with the processes known from the prior art, this has the advantage that by switching in two stages - on the one hand, the size of the data field and, on the other hand, the bit length in parts of the message - with respectively separate identification, the advantages of the two measures can also be used separately as far as possible. For example, even when for reasons of the bus topology the change to shorter bit lengths is not possible, messages with a larger amount of data can still be sent. Also in the event of errors in messages with shortened bit lengths, it can first be switched to normal bit length without sacrificing the advantages of increasing data area.
    [0013] It is especially advantageous that the first identification (EDL) occurs by a recessive bit in the Control Field, since there are available bits that in CAN messages according to the standard are always sent as dominant. In addition, the edge between the recessive identification and a successive dominant bit can be used for synchronization purposes when, as envisaged in an advantageous embodiment, the recessive first identification bit (EDL) in all data messages is followed. by at least one dominant bit.
    [0014] It is also advantageous for the purposes of identification and synchronization, that the second identification (BRS) also occurs through a recessive bit in the Control Field which is transmitted chronologically after the first identification bit (EDL), especially when this is separated from the recessive bit of the first identification by at least one dominant bit.
    [0015] In the presence of the first identification, the flank between the bitrecessive of the first identification and the at least one following dominant bit can be used to advantage for the resynchronization or hard synchronization of the bit timing of the bus subscribers, a fact that increases the reliability and protection against data transmission errors especially in cases of subsequent change of bit length.
    [0016] It is also advantageous when, depending on the value of the first change condition, each of the combinations of possible values of the four bits of the Data Length Code is conjugated to one of the admissible sizes of the data field. This creates a transparent and flexible possibility for using a large number of different data field sizes.
    [0017] The first identification is evaluated with advantage in the bus subscribers, and depending on the first identification, the reception process is adjusted to the size of the Control Field and/or the data field and/or the following components of the message, especially from the CRC field. Also the second identification is interpreted at the bus subscribers in the presence of the first identification, and, depending on the value of the second identification, the reception process is adjusted to different values of the bit length within a message. In this way, the high probability of recognition of transmission errors, which is characteristic for the CAN bus, is maintained, since all subscribers to the bus can control compliance with the protocol requirements depending on the identification.
    [0018] Advantageously, as it reduces the implementation cost, the at least two different values of the bit time length within a message are realized, due to the use of at least two different scaling factors for the adjustment of the unit of bus time relative to a smaller time unit or the oscillator cycle during ongoing operation.
    [0019] In the presence of one more identification that can match the first identification (EDL), in an advantageous realization, the CRC field of the messages presents a number of bits that diverges from the ISO 11898-1 standard CAN, and/or is used by the minus one generator polynomial that diverges from the ISO 11898-1 standard CAN, so that even in the case of transmission of larger data fields the desired error recognition probability is achieved. The value of this other identification is also verified in the bus subscribers and depending on this and/or the content of the Data Length Code, the reception process is adjusted to the size of the CRC field.
    [0020] It is especially advantageous when at the beginning of a message according to the present invention, the calculation of at least two CRC checksums is started in parallel by means of different generator polynomials, and only when due to the identification is it proven which verification process CRC should be applied for message transmission, it is decided which result of one of the parallel initiated CRC calculations is used.
    [0021] The process can be suitably used during the normal operation of a motor vehicle for data transmission between at least two control equipment of the car that are interconnected through an appropriate data bus. But it can also be used in the same advantageous way during the production or maintenance of a motor vehicle for the transmission of data between a programming unit which for programming purposes is connected to an appropriate data bus and at least one control equipment of the automobile. which is connected to the data bus.
    [0022] Another advantage is that a standard CAN controller only needs to be changed the minimum in order to be able to work in accordance with the present invention. A communications controller according to the present invention which can also function as a standard CAN controller is only slightly larger than a conventional standard CAN controller. The belonging application program does not need to be changed and still advantages in data transmission speed are obtained.
    [0023] Considerable parts of the CAN Conformance Test (ISO 16845) can be advantageously used. In an advantageous embodiment, the transmission process according to the present invention can be combined with the complementations of TTCAN (ISO 11898-4).
    [0024] The drawings.
    [0025] In the following, the present invention is explained in detail with the help of the drawings.
    [0026] Figure 1a shows two alternatives for the construction of data messages according to the ISO 11898-1 standard CAN, the CAN Standard Format and the CAN Extended Format.
    [0027] Figure 1b shows two examples for the message format "CAN FD Long" modified according to the present invention in comparison with a modified Control Field and flexible size of the data field and CRC Field. Both a modification of a standard CAN message and a modification of an extended CAN message are displayed.
    [0028] Figure 2 shows different possibilities of how the Data Length Code content can be interpreted according to the present invention, diverging from the ISO 11898-1 standard CAN.
    [0029] Figure 3 schematically shows an execution example for the reception process in a subscriber station of the "CAN FD Long" type of the bus system.
    [0030] Figure 4 shows two more examples for messages modified according to the present invention of the type "CAN FD Fast", where in comparison with Figure 1b additional areas within the message are determined, where according to the present invention is used a different bit length.
    [0031] Figure 5 schematically shows an execution example for the reception process according to the present invention in a subscriber station of the "CAN FD Fast" type of the bus system.
    [0032] Figure 1a presents the construction of messages as they are used in a CAN bus for data transmission. The two different formats “Standard” and “Extended” are shown. The process according to the present invention can be applied for both formats in suitable embodiments.
    [0033] The message starts with a bit “Start of Frame” SOF which signals the beginning of the message. There follows a segment which serves primarily to identify the message and with which the subscribers of the bus system decide whether they will receive the message or not. This segment is called the “Arbitration Field” and contains the identifier. It is followed by a “Control Field” which, among others, contains the Data Length Code. The Data Length Code contains information about the length of the message's data field. This is followed by the data field itself, the “Data Field” which contains the data to be exchanged between the subscribers of the bus system. The CRC field follows, the "CRC Field" with the checksum covering 15 bits, and a delimiter, and then two "Acknowledge" (ACK) Bits that serve to signal to the sender the successful reception of a message. The message is terminated by an “End of Frame” (EOF) sequence.
    [0034] In transmission processes via CAN according to abnormality, the data field can contain a maximum of 8 bytes, that is, 64 bits of data. According to the standard, the Data Length Code comprises four bits, that is, it can take on 16 different values. In this range of values, in current bus systems, only eight different values are used for the different sizes of the data field from 1 byte to 8 bytes. A 0 byte data field is not recommended in standard CAN, sizes above 8 bytes are not allowed. The matching of the Data Length Code values to the data field sizes is shown in figure 2 in the standard CAN column.
    [0035] In figure 1b, in analogous presentation, the modified messages to be transmitted according to the present invention are compared, respectively derived from the two standardized formats. They differ from the messages according to the standard in figure 1a by the complementation of some additional bits in the Control Field which are called EDL, BRS, ESI and whose destination will be explained further on. Furthermore, the messages according to the present invention are distinguished by the variable size of Data Field and CRC Field. For this reason, the messages are called “CAN FD Long”.
    [0036] In the modified transmission process according to the present invention, the data field can also contain more than 8 bytes, in the configuration shown, precisely up to K byte. Unlike standard CAN, other values that the Data Length Code can contain can be leveraged in order to characterize larger data fields. For example, the four bits of the Data Length Code can be leveraged to represent values from zero to 15 bytes. But other conjugations can also be made, for example, it is possible to use the value of the Data Length Code DLC = 0b0000, usually not used in current CAN messages, for another possible value of the data field, for example, for the size 16 bytes .
    [0037] These two possibilities are shown in figure 2 in table form as DLC 1 and DLC 2. In these cases, the maximum size of the data field K has the value 15 or 16. Another possibility is that for the values of Data Length Code greater than 0b1000 and up to 0b1111 the respective data field sizes grow by a larger increment. An example for this case is shown in the table as DLC3. The maximum size of the K data field in this range reaches the value of 64 bytes. It is logical that another choice is possible, for example an increment of respectively 4 bytes.
    [0038] In order to ensure that a communications controller according to the present invention can find out how to interpret the contents of the Data Length Code, it is advantageous that it independently recognizes whether the bus system communication occurs in accordance with the standard CAN or the process according to the present invention. One possibility for this is the fact of querying for the identification a bit within the Arbitration Field or the Control Field which in the standard CAN is always transmitted with a fixed value, so that the communications controller can deduce from this first identification a first condition of switching, depending on which she selects the transmission process to be used.
    [0039] Identification in case of standard addressing:
    [0040] The second bit of Control Field of standard CAN data messages, in standard format as shown in figure 1a at the top, is always sent dominantly and marked with r0. In the example shown in figure 1b at the top of a message according to the present invention, with standard addressing (ie with an Arbitration Field according to standard CAN format), this second bit of the Control Field is used for the identification, being sent recessive. A recessive value of the second bit of the Control Field in such a message therefore indicates that the message format that deviates from the standard is then transmitted. This second bit transmitted recessively from the Control Field of a message with standard Arbitration Field is called EDL (Extended Data Length). Bit r0 which in the standard CAN is always transmitted dominantly, in messages according to the present invention is replaced by the recessive EDL bit, or in messages according to the present invention is shifted by one position backward to the place between the recessive EDL bit and the BRS bit which in bit length switching is also recessive. Furthermore, in the Control Field you can also enter other bits. Figure 1b shows, for example, a bit called ESI, which will be discussed later. At this point still two or more bits could be inserted without influencing the process according to the present invention.
    [0041] In total, therefore, the bit sequence in the Control Field of standard CAN messages{IDE, r0, DLC3, DLC2, DLC1, DLC0}is replaced in messages according to the present invention by {IDE, EDL, N bits more, DLC3, DLC2, DLC1, DLC0}
    [0042] In the example shown in figure 1b, N=3 with bits r0,BRS, ESI included. But, N could also take on any other values greater than zero. Eventually, the BRS bit - for reasons that will be explained later - can be inserted after a bit that is always transmitted dominantly, for example, in combination with and directly after the r0 bit.
    [0043] Identification in case of extended addressing:
    [0044] The first two bits of the Control Field of standard CAN data messages, in extended format, as shown in figure 1a at the bottom, are always sent dominantly, and are marked with r1 and r0. In the example shown at the bottom in figure 1b of a message according to the present invention with extended addressing (ie with an Arbitration Field according to extended CAN format), the first bit r1 of the Control Field is used for identification, being sent recessively. A recessive value of the first bit of the Control Field in such a message indicates in this case that the message format that deviates from the norm is then transmitted. Also in this case, this bit transmitted recessively from the Control Field is called EDL (Extended Data Length). It replaces the reserved dominant bit r1 of the standard CAN message with an extended format. Alternatively, the dominant bit r1 could be held and shifted one place back, so the EDL bit would be inserted as an additional bit between RTR and r1. It would also be possible to insert the EDL bit (recessive) as an additional bit between r1 (dominant) and r0 (dominant). Then, in this case too, more bits can be entered into the Control Field. Figure 1b shows, for example, again the bit called ESI which will be discussed later. Two or more bits could also be inserted without influencing the process according to the present invention. In total, therefore, the bit string in the Control Field of extended standard CAN messages{r1, r0, DLC3, DLC2, DLC1, DLC0}is replaced in messages according to the present invention by{EDL, N bits plus, DLC3 , DLC2, DLC1, DLC0} or {r1, EDL, M bits plus, DLC3, DLC2, DLC1, DLC0}
    [0045] The example shown in figure 1b shows the variation mentioned first with N=3, that is, with the inserted bits r0, BRS, ESI, N or M they could also assume any other values greater than zero. Bit BRS should also in this case eventually - for reasons that will be explained later - be inserted after a bit always transmitted dominantly, for example, in combination with and directly after bit r0.
    [0046] As an alternative it is also possible to use the process on appropriate communications controllers that are not also dimensioned for CAN communication according to the standard. In this case, the determination of the first mentioned switching condition can also be dispensed with, for example, depending on the proper identification of the messages. The communication controllers, in this case, work more according to one of the described processes, and accordingly, they can only be used in bus systems, where exclusively the communication controllers according to the present invention are used.
    [0047] If, as provided by the present invention, the message data field is expanded, then it may be appropriate to also adapt the process used for the Cyclic Redundancy Check (CRC) [cyclic redundancy check], in order to obtain a sufficient protection against errors. In particular, it may be advantageous to use another CRC polynomial, for example with a higher order, and accordingly predict in the messages modified according to the present invention a size which diverges from the CRC field. This is shown in figure 1b by the fact that the CRC field of the messages according to the present invention, in the example shown, has a length of L bits, where L diverging from the standard CAN is not equal, especially it can be greater than 15.
    [0048] The use of a modified process to calculate the CRC check sum can be signaled to the bus subscribers by means of another identification that represents another switching condition. This other identification, in a preferred embodiment, can coincide with the first identification and/or switching condition.
    [0049] In standard CAN controllers, the CRC code of messages to be sent is generated by reaction through a shift register, in whose input the message bits sent serially are fed sequentially. The width of the shift register corresponds to the order of the CRC polynomial. CRC encoding occurs by linking the register contents to the CRC polynomial during shift operations. When CAN messages are received, the serially received message bits are entered into the CRC shift register. The CRC test is successful when at the end of the CRC field all bits of the shift register are set to zero. The generation of the CRC code in the case of transmission and the CRC test in the case of reception both take place in hardware, with no software intervention required. A modification of the CRC coding therefore has no influence on the application software.
    [0050] In an especially advantageous embodiment, the communications controller is designed in such a way that it is compatible with the standard CAN, that is, it works according to the standard in a standard CAN bus system, whereas in a modified bus system according to the present invention, on the one hand, allows larger data fields in the messages and, on the other hand, also performs the adapted calculation and verification of the CRC code.
    [0051] Since at the beginning of the reception of a message it is not yet defined whether a CAN message according to the standard or a modified message according to the present invention will be received, two CRC shift registers are implemented in a controller. communications according to the present invention which operate in parallel. After receiving the CRC delimiter, when the CRC code in the receiver is evaluated, it is defined, due to the extended identification according to the present invention, which transmission method was used, and then the shift register coupled to this transmission process is rated. The other identification, as already shown above, can match the first identification that refers to the data field size and the interpretation of the Data Length Code.
    [0052] At the beginning of sending a message, in fact, the sender already knows according to which transmission process should be transmitted. However, since it can happen that the arbitration for bus access is lost and the message is not sent, but instead another message is received, also in this case both CRC shift registers are activated in parallel.
    [0053] The described implementation of two CRC shift registers that work in parallel also allows for another improvement:
    [0054] The standard CAN protocol CRC polynomial (x15 +x14 + x10 + x8 + x7 + x4 + x3 + x1) is scaled for a message length less than 127 bits. When messages transmitted in accordance with the present invention also use longer data fields, it is appropriate to use another polynomial, especially a longer CRC polynomial, to maintain transmission security. Messages transmitted in accordance with the present invention accordingly receive a modified, especially longer CRC field. During ongoing operation, the communications controllers dynamically switch between the two CRC shift registers, that is, the shift register according to the standard CAN and the shift register according to the present invention, to use the polynomial respectively correct.
    [0055] It is logical that more than two shift registers can also be used and, accordingly, more than two CRC polynomials, scaled depending on the length of the data field or the desired transmission security. In this case, as long as a compatibility with the standard CAN is maintained, the respective identification and the respective switching condition must be adapted. For example, the second Control Field bit could be a first identifier that characterizes a switch to longer data fields, for example, according to DLC1 in Figure 2 and a second belonging CRC polynomial. For messages which contain longer data fields and which are marked by the first identification, for example an additional bit could be inserted in the Control Field which characterizes the switching to another set of data field sizes, eg DLC3 da figure 2, and a third CRC polynomial. The inclusion of additional bits in the Control Field of messages that present the first identification is possible since in the case of any mode a modified transmission and reception process is used in the communications controller, and thus, such modifications can be taken into account. The compatibility with the standard CAN is given by the fact that in case the first identification does not exist, in the example shown, that is, with a second dominant bit of the Control Field, the construction of the messages exactly follows the definitions of the ISO 11898- 1.
    [0056] Figure 3 shows in simplified presentation a detail of the reception process according to the present invention as it takes place in a subscriber station of the bus system. Shown here is the case where compatibility with the standard CAN is achieved by adapting the conduct of the communications controller in dependence on the first switching condition. Although in Figure 3 a usual presentation was selected for the description of executions of programs in software, the process is completely suitable for implementation in hardware.
    [0057] First, the subscriber station is in a state that exploits the bus while there is no communication traffic on the bus. Query 302 therefore expects a dominant bit on the bus. This bit characterizes the start of a new message (Start-of-Frame).
    [0058] As soon as the start of a new message is verified, in block 304 the calculation of the at least two checksums to be calculated in parallel begins. The first checksum corresponds to the standard CAN CRC calculation, while the second sum is calculated according to the new process.
    [0059] Then, from step 306, the other bits of the message following the SOF bit are received, starting with the arbitration bit. If several subscribers of the bus wish to send a message, it is decided, according to the common standard CAN process among the subscribers of the bus, which subscriber receives access to the bus. Block 306 shown characterizes reception of all bits until the first identification is received or the first switching condition is set. In the example shown, the first switching condition is taken from the Control Field, eg the second bit of it (see figure 1). Then, in block 308, more bits of the message can be received, until, from a certain bit of the message, depending on the first obtained switching condition, it will be proceeded differently. This division into different process modes is ensured through a corresponding query or branch 310 as will be explained below by way of example.
    [0060] If in branch 310, for example, after receiving the second bit of the Control Field as dominant bit r0, there is information that according to the first identification, communication takes place according to the standard CAN (the path marked with " 1” of figure 3), then, in step 312, the other Control Field bits are read. From these bits, according to the standard CAN, the Data Length Code is determined, and then, in step 316, the corresponding amount of data is received, at most 8 bytes, according to the data field. In step 320 the CRC field comprising 15 bits is received. If at branch 324 there is information that the checksum of the CRC transmitted by the sender and ascertained by the recipient match, in block 328 an Acknowledge dominant bit is sent. It should be noted that in this case the CRC check sum according to the standard is compared, since the communication takes place according to the standard CAN. If there is no match, the Acknowledge bit (block 330) is sent recessively. Then follow in step 332 or 334 the ACK delimiter and the EOF (End of Frame) bits. With this, a reception process for a message is terminated.
    [0061] If, however, in branch 310, for example, after receiving the second bit of the Control Field as EDL recessive bit, there is information that the communication process modified according to the present invention must be used (the path marked with “2” in figure 3), then in block 314 the other Control Field bits are read. Here you can also read, for example, additional bits complemented in the Control Field that can be used, for example, for switching to another divergent CRC polynomial, or also for switching the bit length, for synchronization or for other purposes . This aspect will be discussed in more detail. The result is the Data Length Code according to the new interpretation for which some examples are mentioned in table form in figure 2. In block 318 the corresponding amount of data is received, that is, for example DLC1 from the table in figure 2 up to 15 bytes, for the DLS example 2, up to 16 bytes, for the DLC3 example, up to 64 bytes of data. In block 322 the modified CRC field according to the present invention, especially longer, is received. If at branch 324 there is information that the CRC checksum transmitted by the sender and the CRC checksum determined by the recipient itself match, in which case the comparison is based on the CRC checksum that diverges according to In the present invention, at block 328 a dominant Acknowledge bit is sent. Otherwise (block 330) the Acknowledge bit is sent recessively.
    [0062] Then, in step 332 or 334 follow the ACK delimiter and the EOF bits. With this, a reception process for a message is terminated.
    [0063] In figure 3 is presented the case where the other identification that determines the CRC to be used coincides with the first identification that refers to the size of the data field and the interpretation of the Data Length Code. That is, before receiving 320 or 322 of the CRC checksum it is not asked again which CRC should be received according to the other identification and be evaluated for branch 324. Through a simple modification of the flowchart of Figure 3 this additional query it may eventually be included in the execution.
    [0064] Figure 4 shows two more examples for messages modified according to the present invention where, in front of Figure 1b, additional areas are fixed within the message, in which, according to the present invention, a different bit length is used and so the several bits are loaded faster across the bus. For this reason the messages are called “CAN FD Fast”. For the two possible message addressing variations, the standard format and the extended format, areas are registered in Figure 4, where it is switched between two states, called Fast CAN Arbitration and Fast Can Data. This switching between the two states means that for the corresponding part of the message the bit lengths are shorter and thus the different bits are transmitted more quickly over the bus. In this way, the transmission time for a message can be shortened compared to the process according to the standard. The pertinent changeover of the chronological bit length can be performed, for example, by using at least two different scaling factors to adjust the bus time unit to the smallest time unit or the wobble cycle during the operation in progress. The bit length switching and the corresponding scaling factor change are also shown in figure 4 as an example.
    [0065] The passage between Fast CAN Arbitration and FastCAN Data states happens in messages that present the first EDL identification, depending on a second identification that signals to the data transmission subscribers that the truncated length of bits is used. In the example run shown here, the position of this ID is an additional bit in the Control Field which is called the BRS (Bit Rate Switch). In the example shown it is transmitted as the fourth bit of the Control Field.
    [0066] In the case presented, where the first EDL identification is followed by the first BRS identification, in the transmission process according to the present invention, messages are transmitted whose bit length is clearly reduced, whose data field size can be extended up to values above 8 bytes, and whose CRC is adapted to the larger data field. Thereby a considerable increase of the transmission capacity through the bus system is achieved, and at the same time the transmission security is improved.
    [0067] The fastest transmission in the example shown starts directly after sending the respective ID and ends immediately after reaching the set bit for switching back, or when a reason to initiate an Error Frame has been recognized.
    [0068] Figure 5 shows a reception process modified in relation to Figure 3, where additionally, depending on the second BRS identification, the switch is made between Fast-CAN-Arbitration and Fast-CAN Data states. If in branch 310, for example, after receiving the second bit of the Control Field, there is as EDL recessive bit the information that the communication method modified according to the present invention must be used, then in block 408 the next ones are read. Control Field bits. If the bit that serves for the second identification, for example, the fourth bit BRS of the Control Field extended according to the present invention is received with the expected value, for example, recessive, then it is assumed, for example, in the Sample Point of this bit, the state of Fast-CAN Data, that is, switched to the truncated bit length (Path “C”). If the respective bit has the value inverted, that is, in this example, dominant, there will be no truncation of the bit length (Path “B”). In blocks 412 or 414, the remaining Control Field bits are received, including the Data Length Code, and the data field is received according to the data length information of the Data Length Code. At block 412 reception takes place with the normal bit length, at block 414 with the truncated bit length. In blocks 416 or 418, the CRC field, diverging according to the present invention, is read, especially longer. In the last bit of the CRC field, the CRC delimiter in block 418 is again switched to the Fast-Can-Arbitration state at the usual bit rate. Next, in branch 324 it is checked, in analogy to Figure 3, whether the CRC checksum transmitted by the sender and the one verified by the recipient itself coincide, and in dependence on this, the continuation is made, as already in Figure 3.
    [0069] The always dominant bit r0 that follows the recessive bit of the first EDL identification in the messages according to the present invention (or in the case of extended addressing, eventually r1), as can be read, for example, in figures 1b and 4, leads to a dominant recessive edge in all data messages in accordance with the present invention. This edge can be used to improve synchronization between the subscribers of the bus, a fact that is especially advantageous when switching to shorter bit lengths.
    [0070] When all subscribers of the bus in the network are synchronized with the sending subscriber, switching to the shortest bit length can be done without problems. But it can also happen that in the bit provided for switching not all subscribers on the bus are synchronized with the sending subscriber, for example, when a first sending subscriber at the end of the Arbitration Field transmits the “dominant-dominant” bit sequence and a second sending subscriber that still in the arbitration context wishes to gain access to the bus, transmits the “dominant-recessive” bit stream. The second sending subscriber loses arbitration on the recessive bit and becomes the recipient. Up to the recessive bit, the two subscribers had transmitted the same bit sequence. Since both transmitters, due to the runtimes via the CAN bus and the transmitters, see their respective flanks transmitted by them earlier, going from recessive to dominant, than those respectively transmitted by the other sender, neither of them is synchronized with the other. If the bit length is now switched, before the subscriber of the newly made bus has been synchronized with the remaining sender, the synchronization takes place after the switch, in the range of the shortest bit length. The lag through synchronization is then larger in relation to the bit length. Depending on the signal execution time between the two bus subscribers, the lag can become so large that a synchronization failure occurs and a bit is misused. The recipient will then not recognize the received message as being valid and will destroy it with an Error-Frame.
    [0071] In standard CAN communication this problem does not occur, since there the CAN Bit Timing propagation segment compensates for the delays caused by signal execution times between the bus subscribers. In setting to a shorter bit length, however, the propagation segment can be minimized or completely omitted in order to shorten the bit length.
    [0072] In order to avoid synchronization failure after bit length switching, a synchronization before bit length switching needs to be ensured with suitable measures. This is achieved by the fact that on the EDL flank (recessive) to r0 or r1 (dominant) a synchronization is performed. Especially hard synchronization can be done in place of resynchronization that is otherwise common within a frame. This is performed, for example, also in the Start-of-Frame-Bit and certainly compensates for possible lags completely. In resynchronization, which is otherwise common within a frame, a residual error may remain when the phase error is greater than the configured Resynchronization Jump Width (SJW).
    [0073] As a variation of the presented process, the switching to truncated bit lengths depending on the value of the second BRS identification, can additionally be coupled with the dominant value of the previously transmitted bit r0, so that it is only switched to the length of bit shortest when r0 was transmitted dominantly. This complementation of the process allows using a bit sequence, where the recessive EDL bit is followed by a recessive bit instead of the dominant r0 bit, for future message formats, such as for a bit encoding that diverges from the standard in partial areas of the message.
    [0074] The possibility of additionally inserting bits in the ControlField of the messages according to the present invention, can also be used to facilitate the recognition of bus subscribers that are in the “Error Passive” state. A bus subscriber with prior art communications controller enters the “Error Passive” state when the Transmit Error Count or Receive Error Count is 128 or more. If the bus subscriber is in the “Error Passive” state, it cannot transmit any “Active Error Flag” (six successive dominant bits). If the bus subscriber detects an error, it sends a “Passive Error Flag” (six successive recessive bits). A “Passive Error Flag” cannot be distinguished from the sleep level on the CAN bus. In this way, other bus subscribers may only be able to indirectly recognize that a bus subscriber is in the “Error Passive” state.
    [0075] The advantage of the process suggested here, on the other hand, lies in the fact that with the present process, bus subscribers that are in an "Error Passive" state can be clearly identified by the other bus subscribers. Until now this is not possible by receiving a “Passive Error Flag”. The “Error Passive” status in state of the art bus subscribers can only be recognized by the microprocessor locally connected to the CAN controller, and for example, by means of a corresponding status message, communicate to the other bus subscribers. Thanks to the new process it is not necessary for the microprocessor to send a status message. In addition, in this case, the information about the "Error Passive" status is current at the time of transmission, whereas the status may have changed when sending a status message between the microprocessor's elaboration of the status message and the time of sending .
    [0076] In the process described here, the information about the “Error Passive” state of a communications controller is integrated in the messages that the bus subscriber sends anyway. To do this, the Control Field of the message is expanded by one more bit (ESI). This bit, as shown in figure 1b, is inserted after the first identification (EDL) and before the DLC, for example, directly before or directly after the BRS bit. A bus subscriber that is in the "Error Passive" state sends this bit, for example, dominantly, whereas otherwise the bit is sent recessively. An inverted logic is also possible.
    [0077] The transmission process presented is suitable for the normal operation of a motor vehicle for data transmission between at least two control equipment of the automobile that are connected through an appropriate data bus. But it can also be used to advantage during the production or maintenance of a motor vehicle for the transmission of data between a programming unit which, for programming purposes, is connected to a suitable data bus, and at least one control equipment. of the motor vehicle that is connected to the data bus.
    [0078] In sum, the process is a transmission process, characterized by the fact that a standard CAN controller only needs to be minimally modified to be able to work in accordance with the present invention. A communications controller according to the present invention that can also function as a standard CAN controller is only slightly larger than a conventional standard CAN controller. The belonging application program does not need to be modified and still advantages in data transmission speed are obtained. Due to the use of the enlarged data field size and the belonging DLC and CRC, the data transmission speed can be further increased, adaptations in the application software are minimal. Large parts of the CAN compliance test (ISO 16845) can be leveraged. It is also possible to combine the transmission process according to the present invention with the complementations of the TTCAN (ISO 11898-4).
    权利要求:
    Claims (19)
    [0001]
    1. Process for the serial transmission of data in a bus system with at least two bus subscribers who exchange messages over the bus, and the messages sent have a logical construction in accordance with the ISO 11898-1 standard CAN, where the logical construction contains a Start-of-Frame-Bit, an Arbitration Field, a Control Field, a Data Field, a CRC Field, an Acknowledge Field and an End-of-Frame sequence, and the Control Field comprises a Data Length Code that contains information about the length of the Data Field, characterized by the fact that in the presence of a first identification (EDL) the Control Field of the messages, diverging from the ISO 11898-1 standard CAN, covers more than six bits, being that in the presence of the first identification (EDL) the Control Field of the message is expanded by at least one more bit (ESI), and through the additional bit (ESI) or one of the other bits, information about the "Error Passive" state of the subscriber of bus is integrated into outgoing messages.
    [0002]
    2. Process according to claim 1, characterized in that in the presence of the first identification (EDL) the message data field, diverging from the ISO 11898-1 standard CAN, may contain more than eight bytes, for determining the size of the data field the values of the four bits of the Data Length Code are interpreted as at least partially diverging from the ISO 11898-1 standard CAN.
    [0003]
    3. Process according to claim 1 or 2, characterized in that in the presence of a second identification (BRS) the bit length for at least a defined or definable area within the message assumes a truncated value compared to the length of bits existing before the second identification, with the area starting not before the second identification and ending at the latest with the CRC delimiter, and the second identification (BRS) only occurs in the presence of the first identification (EDL), happening in the Control Field of messages which, differing from the ISO 11898-1 standard CAN, contain more than six bits.
    [0004]
    4. Process according to any one of claims 1 to 3, characterized in that the first identification (EDL) occurs through a recessive bit in the Control Field.
    [0005]
    5. Process according to any one of claims 1 to 4, characterized in that one more bit (ESI) is inserted after the first identification (EDL) and before the Data Length Code.
    [0006]
    6. Process according to any one of claims 1 to 5, characterized in that in the presence of the first identification the recessive bit of the first identification (EDL) is followed in all data messages by at least one dominant bit.
    [0007]
    7. Process according to any one of claims 2 to 6, characterized in that the second identification (BRS) is made through a recessive bit in the Control Field that is transmitted chronologically after the first identification bit (EDL).
    [0008]
    8. Process according to claim 7, characterized in that in the presence of the second identification the recessive bit of the second identification (BRS) is separated from the recessive bit of the first identification (EDL) by at least one dominant bit.
    [0009]
    9. Process according to any one of claims 6 to 8, characterized in that in the presence of the first identification the flank between the recessive bit of the first identification (EDL) and the at least one following dominant bit is used for the synchronization or hard-synchronization of the Bit Timing of the bus subscribers.
    [0010]
    10. Process according to any one of claims 1 to 9, characterized in that the first identification (EDL) is evaluated in the bus subscribers and that the reception process is adapted depending on the first identification to the size of the Control Field and /or the data field and/or parts of successive messages.
    [0011]
    11. Process according to any one of claims 3 to 10, characterized in that the second identification (BRS) is evaluated in the bus subscribers in the presence of the first identification, and depending on the value of the second identification, the reception process is adapted to different bit length values within a message.
    [0012]
    12. Process according to any one of claims 3 to 11, characterized in that the at least two different values of the chronological length of bits within a message are carried out within a message through the use of at least two different factors of scaling for setting the bus time unit in relation to a smaller time unit or the oscillator cycle in ongoing operation.
    [0013]
    13. Process according to any one of claims 1 to 12, characterized in that in the presence of more than one identification, the CRC field of the messages has a number of bits that diverges from the ISO 11898-1 standard CAN, and/or which is used at least one generator polynomial that deviates from the standard CAN ISO 118981, the other identification may coincide with the first identification (EDL).
    [0014]
    14. Process according to claim 13, characterized in that the value of the other identification is determined in the bus subscribers, and that, depending on the value of the other identification and/or the Data Length Code content, the reception process is adjusted to the size of the CRC field.
    [0015]
    15. Process according to claim 13 or 14, characterized by the fact that at the beginning of a message the calculation of at least two CRC checksums is started in parallel by means of different generator polynomials, and that in dependence on the value of the other ID is decided which result of one of the parallel initiated CRC calculations is used.
    [0016]
    16. Device for serial data transmission in a bus system with at least two bus subscribers who exchange messages over the bus, and the messages sent have a logical construction in accordance with the ISO 11898-1 standard CAN, where the logical construction contains a Start-of-Frame-Bit, an Arbitration Field, a Control Field, a Data Field, a CRC Field, an Acknowledge Field and an End-of-Frame sequence, and the Control Field comprises a Data Length Code that contains information about the length of the Data Field, characterized by the fact that in the presence of a first identification (EDL) the Control Field of the messages, diverging from the ISO 11898-1 standard CAN, covers more than six bits, being that in the presence of the first identification (EDL) the Control Field of the message is expanded by at least one more bit (ESI), and through the additional bit (ESI) or one of the other bits, information about the status "Error Passive" ” of the subscriber from the bus is integrated into outgoing messages.
    [0017]
    17. Device according to claim 16, characterized in that in the presence of the first identification (EDL) the message data field, diverging from the ISO 11898-1 standard CAN, may contain more than eight bytes, for determining the size of the data field the values of the four bits of the Data Length Code are interpreted as at least partially diverging from the ISO 11898-1 standard CAN.
    [0018]
    18. Device according to claim 16 or 17, characterized in that in the presence of a second identification (BRS) the bit length for at least a defined or definable area within the message assumes a truncated value compared to the length of bits existing before the second identification, with the area starting not before the second identification and ending at the latest with the CRC delimiter, with the second identification (BRS) only occurring in the presence of the first identification (EDL), happening in the Control Field of messages which, differing from the ISO 11898-1 standard CAN, contain more than six bits.
    [0019]
    19. Device according to any one of claims 16 to 18, characterized in that the device, by virtue of appropriate means, is prepared to perform at least one of the processes for data transmission as defined in claims 4 to 15.
    类似技术:
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    BR112013033658B1|2021-07-13|PROCESS AND DEVICE FOR SERIAL DATA TRANSMISSION IN A BUS SYSTEM
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    同族专利:
    公开号 | 公开日
    AU2012277899B2|2017-06-29|
    KR20140056239A|2014-05-09|
    CN103782283B|2017-01-18|
    US20140258581A1|2014-09-11|
    WO2013000911A1|2013-01-03|
    RU2014102641A|2015-08-10|
    EP2726999A1|2014-05-07|
    RU2603534C2|2016-11-27|
    US9690742B2|2017-06-27|
    CN103782283A|2014-05-07|
    EP2726999B1|2015-09-09|
    BR112013033658A2|2017-01-24|
    KR102007547B1|2019-08-05|
    ES2548409T3|2015-10-16|
    AU2012277899A1|2014-02-20|
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    法律状态:
    2018-12-11| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|
    2019-10-29| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|
    2021-02-02| B06A| Patent application procedure suspended [chapter 6.1 patent gazette]|
    2021-05-04| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|
    2021-07-13| B16A| Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 26/06/2012, OBSERVADAS AS CONDICOES LEGAIS. |
    优先权:
    申请号 | 申请日 | 专利标题
    DE102011122843.1|2011-06-29|
    DE102011078266A|DE102011078266A1|2011-06-29|2011-06-29|Method and apparatus for serial data transmission with flexible message size and variable bit length|
    DE102011078266.4|2011-06-29|
    DE201110122843|DE102011122843A1|2011-06-29|2011-06-29|Method for transferring serial data in bus system of motor vehicle, involves integrating information about error passive state of bus into frames by additional bit|
    PCT/EP2012/062357|WO2013000911A1|2011-06-29|2012-06-26|Method and device for serial data transmission having a flexible message size and a variable bit length|
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