基于嵌入式系统的TTCAN网络的研究与实现
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摘要
TTCAN是基于时间触发机制的CAN高层协议。网络中的每个节点在一个总线周期内都至少拥有一个服务时隙,并在各自的时隙中处理总线事务,因此可以有效改善CAN的通讯实时性和确定性。
论文介绍了TTCAN协议的通讯原理,主要包括TTCAN的同步机制、网络传输、系统矩阵以及实时性等方面的内容,并对TTCAN静态调度算法进行分析研究,提出了基于嵌入式系统的TTCAN网络实现方案。该方案采用TTCAN同步机制的Level 1级校准整个TTCAN网络的时间同步,实现了以调度主站和多个从站节点构成的TTCAN网络。系统以ARM-Linux嵌入式系统为核心,结合独立的CAN控制器芯片MCP2515,构建TTCAN的调度主站,采用MSP430设计从站节点,同时,结合TTCAN静态调度算法设计系统软件,实现了TTCAN协议的时间触发通讯功能,使整个系统成为具有时间触发功能的TTCAN通讯网络。
最终的实验结果验证了系统硬件和软件调度算法的正确性,表明TTCAN时间触发通讯方式和系统矩阵的调度安排在一定程度上减少了总线上消息间的冲突,提高了网络实时性和总线带宽利用率,具有较好的应用价值。
TTCAN is a higher CAN protocol based on the time triggered mechanism. Each node of the network has a service time slot at least and deals with the affairs of the bus in its own time slots, so it could improve certainty and real-time performance of CAN.
The principle of TTCAN protocol is introduced, involving synchronization mechanism, network transmitting, system matrix, real-time ability and so on. By researching TTCAN protocol and analyzing static scheduling algorithm, a design which is based on embedded system is proposed. This paper realized a TTCAN network which is composed of a master node and several slave nodes, using synchronization mechanism of TTCAN level 1 to synchronize the whole network. ARM processor S3C2410 and Stand-Alone CAN controller MCP2515 were adopted to complete the main function of master node while slave nodes were designed with MSP430. Meanwhile, combined with TTCAN static scheduling algorithm and designed the systems software, this paper realized the time triggered communication function of TTCAN protocol.
Final results of communication test confirmed the correctness of system hardware and software for scheduling algorithm. The results indicate that the conflict among the messages on the bus is depressed while the real-time performance and bus utilization are both improved in the TTCAN network with time-triggered mechanism and the scheduling in the system matrix. Therefore the system is valuable for research and application of TTCAN protocol.
论文介绍了TTCAN协议的通讯原理,主要包括TTCAN的同步机制、网络传输、系统矩阵以及实时性等方面的内容,并对TTCAN静态调度算法进行分析研究,提出了基于嵌入式系统的TTCAN网络实现方案。该方案采用TTCAN同步机制的Level 1级校准整个TTCAN网络的时间同步,实现了以调度主站和多个从站节点构成的TTCAN网络。系统以ARM-Linux嵌入式系统为核心,结合独立的CAN控制器芯片MCP2515,构建TTCAN的调度主站,采用MSP430设计从站节点,同时,结合TTCAN静态调度算法设计系统软件,实现了TTCAN协议的时间触发通讯功能,使整个系统成为具有时间触发功能的TTCAN通讯网络。
最终的实验结果验证了系统硬件和软件调度算法的正确性,表明TTCAN时间触发通讯方式和系统矩阵的调度安排在一定程度上减少了总线上消息间的冲突,提高了网络实时性和总线带宽利用率,具有较好的应用价值。
TTCAN is a higher CAN protocol based on the time triggered mechanism. Each node of the network has a service time slot at least and deals with the affairs of the bus in its own time slots, so it could improve certainty and real-time performance of CAN.
The principle of TTCAN protocol is introduced, involving synchronization mechanism, network transmitting, system matrix, real-time ability and so on. By researching TTCAN protocol and analyzing static scheduling algorithm, a design which is based on embedded system is proposed. This paper realized a TTCAN network which is composed of a master node and several slave nodes, using synchronization mechanism of TTCAN level 1 to synchronize the whole network. ARM processor S3C2410 and Stand-Alone CAN controller MCP2515 were adopted to complete the main function of master node while slave nodes were designed with MSP430. Meanwhile, combined with TTCAN static scheduling algorithm and designed the systems software, this paper realized the time triggered communication function of TTCAN protocol.
Final results of communication test confirmed the correctness of system hardware and software for scheduling algorithm. The results indicate that the conflict among the messages on the bus is depressed while the real-time performance and bus utilization are both improved in the TTCAN network with time-triggered mechanism and the scheduling in the system matrix. Therefore the system is valuable for research and application of TTCAN protocol.
引文
[1]史久根,张陪仁,陈真勇.CAN现场总线系统设计技术[M].国防工业出版社.2004,21-22.
[2]刘鲁源,李芳,吕伟杰.TTCAN协议的分析与展望[J].天津理工大学学报,2005,21(3):15-18.
[3]王欢.电动汽车TTCAN总线技术研究[D].中国科学院研究生院.2007.
[4]孙琼.嵌入式Linux应用程序开发详解[M].人民邮电出版社.2006:106-132.
[5]刘淼.嵌入式系统接口设计与Linux驱动程序开发[M].北京航天航空大学出版社.2006:350-386.
[6]魏忠等.嵌入式系统开发详解[M].电子工业出版社.2003:3-17.
[7]邬宽明.CAN总线原理和应用系统设计[M].北京航空航天大学出版社.2001:18-19.
[8]阳宪惠.现场总线技术及其应用[M].清华大学出版社.1999:309-310.
[9]ISO 11898-4,Road Vehicles-Controller Area Network:Time triggered communication[S].
[10]朱智林,刘晓华.TTCAN周期性任务的优化调度算法[J].兰州大学学报(自然科学版).2005,73-76.
[11]周贤周.时间触发系统TTCAN的设计以及在智能压路机上的应用[D].同济大学.2007.
[12]史久根,张陪仁,陈真勇.CAN现场总线系统设计技术[M].国防工业出版社.2004,21-22.
[13]沈君,方凯.在CAN中植入时间触发机制的研究[J].汽车工程.2006,379-382.
[14]史久根,张培仁.CAN总线在实时系统中应用的研究[J].中国科学技术大学学报.2005,195-201.
[15]饶运涛,邹继军,王进宏.现场总线CAN原理与应用技术[M].北京航空航天大学出版社.2007:430-431.
[16]S3C24I0X USER'S MANUAL.Samsung Electronics.Revision 1.2 2003.
[17]马忠梅.ARM嵌入式处理器结构与应用基础[M].北京航空航天大学出版社.2002:17-35.
[18]周立功等.ARM微控制器基础与实战[M].北京航空航天大学出版社,2003.1:379-409.
[19]韩晓东,吴临政,吴波.时间触发CAN网络节点设计[J].电子技术应用,2007.(2).
[20]Fuhrer T,Muller B,Dieterle W.Time-Triggered Communication on CAN[R].Amsterdam Netherlands,2000:24-25.
[21]Roman Obermaisser Member,IEEE.CAN Emulation in a Time-Triggered Environment[R].Institute for Technical Information,TU Vienna,Australia.2004.
[22]Lawrenz W.CAN system engineering from theory to practical application[M].NewYork:Spring-Verlag,1997.
[23]Livani M,Kaiser J,Jia M.Scheduling hard and soft real-time communication in the controller area network[J].Control Engineering,1999,7(12):1515-1523.
[24]Tindell K,BurnsA.Calculating controller area network(CAN)message response times[J].Controller Engineering Practice,1995,3(8):1163-1169.
[25]G.Leen,D.Heffernanb.TTCAN a new time-triggered controller area network[J].Microprocessors and Microsystems.2002,77-94.
[26]Seung Ho Hong.Scheduling algorithm of data sampling times in the integrated communication and control systems[J].Control Systems Technology,1995,3(2):225-230.
[27]Cavalieri S.Mapping Automotive Process Control on IEC/ISA FieldBus Functionalities[C].Computer in Industry.1996.
[28]李佳,朱元,田光宇.CAN与TTCAN通信延迟时间的分析[J],清华大学学报(自然科学版).2006:15-19.
[29]刘鲁源,万仁君,李斌.TTCAN调度算法及其在汽车控制系统中的应用[J].控制与决 策.2005:60-63.
[30]冯谦,郭万林.CAN总线的时间触发调度方法设计及实验研究[J].信息与控制.2005:209-213.
[31]王庆祥,陈家琪.TTCAN系统及其在分布式车辆网络中的应用[J].汽车工程.2005:665-669.
[32]宋国民,欧阳明高.TTCAN系统及其在分布式车辆网络中的应用[J].汽车工程.2005:665-669.
[33]吕伟杰,刘鲁源.CAN总线时间触发机制的实现[J].中国工程科学.2005:40-43.
[34]夏泽中,雷志雄.基于CAN总线的时间触发分布控制系统的设计[J].仪表技术.2005:22-23.
[35]周亦敏,张生.TTCAN协议软件仿真模型的建立与实现.计算机仿真.2005:159-163.
[36]吴旭光,唐苗.基于TTCAN和NCS的鱼雷制导系统结构.西北工业大学学报.2005:750-753.
[37]张广斌,方凯.电动汽车网络协议应用的研究.微计算机信息.2005:111-115.
[38]牛德青,岳曾敬.时间触发的CAN协议[J].兵工自动化.2005:44-46.
[39]孟庆栋,张凤登,刘荣鹏.MCP2515在TTCAN协议Level 1节点中应用[J].微计算机信息.2007,23(2):273-301.
[40]曹万科,张天侠,刘应吉.基于混合调度算法汽车TTCAN网络设计及实时性分析[J].中国工程机械学报.2007(5):62-66.
[2]刘鲁源,李芳,吕伟杰.TTCAN协议的分析与展望[J].天津理工大学学报,2005,21(3):15-18.
[3]王欢.电动汽车TTCAN总线技术研究[D].中国科学院研究生院.2007.
[4]孙琼.嵌入式Linux应用程序开发详解[M].人民邮电出版社.2006:106-132.
[5]刘淼.嵌入式系统接口设计与Linux驱动程序开发[M].北京航天航空大学出版社.2006:350-386.
[6]魏忠等.嵌入式系统开发详解[M].电子工业出版社.2003:3-17.
[7]邬宽明.CAN总线原理和应用系统设计[M].北京航空航天大学出版社.2001:18-19.
[8]阳宪惠.现场总线技术及其应用[M].清华大学出版社.1999:309-310.
[9]ISO 11898-4,Road Vehicles-Controller Area Network:Time triggered communication[S].
[10]朱智林,刘晓华.TTCAN周期性任务的优化调度算法[J].兰州大学学报(自然科学版).2005,73-76.
[11]周贤周.时间触发系统TTCAN的设计以及在智能压路机上的应用[D].同济大学.2007.
[12]史久根,张陪仁,陈真勇.CAN现场总线系统设计技术[M].国防工业出版社.2004,21-22.
[13]沈君,方凯.在CAN中植入时间触发机制的研究[J].汽车工程.2006,379-382.
[14]史久根,张培仁.CAN总线在实时系统中应用的研究[J].中国科学技术大学学报.2005,195-201.
[15]饶运涛,邹继军,王进宏.现场总线CAN原理与应用技术[M].北京航空航天大学出版社.2007:430-431.
[16]S3C24I0X USER'S MANUAL.Samsung Electronics.Revision 1.2 2003.
[17]马忠梅.ARM嵌入式处理器结构与应用基础[M].北京航空航天大学出版社.2002:17-35.
[18]周立功等.ARM微控制器基础与实战[M].北京航空航天大学出版社,2003.1:379-409.
[19]韩晓东,吴临政,吴波.时间触发CAN网络节点设计[J].电子技术应用,2007.(2).
[20]Fuhrer T,Muller B,Dieterle W.Time-Triggered Communication on CAN[R].Amsterdam Netherlands,2000:24-25.
[21]Roman Obermaisser Member,IEEE.CAN Emulation in a Time-Triggered Environment[R].Institute for Technical Information,TU Vienna,Australia.2004.
[22]Lawrenz W.CAN system engineering from theory to practical application[M].NewYork:Spring-Verlag,1997.
[23]Livani M,Kaiser J,Jia M.Scheduling hard and soft real-time communication in the controller area network[J].Control Engineering,1999,7(12):1515-1523.
[24]Tindell K,BurnsA.Calculating controller area network(CAN)message response times[J].Controller Engineering Practice,1995,3(8):1163-1169.
[25]G.Leen,D.Heffernanb.TTCAN a new time-triggered controller area network[J].Microprocessors and Microsystems.2002,77-94.
[26]Seung Ho Hong.Scheduling algorithm of data sampling times in the integrated communication and control systems[J].Control Systems Technology,1995,3(2):225-230.
[27]Cavalieri S.Mapping Automotive Process Control on IEC/ISA FieldBus Functionalities[C].Computer in Industry.1996.
[28]李佳,朱元,田光宇.CAN与TTCAN通信延迟时间的分析[J],清华大学学报(自然科学版).2006:15-19.
[29]刘鲁源,万仁君,李斌.TTCAN调度算法及其在汽车控制系统中的应用[J].控制与决 策.2005:60-63.
[30]冯谦,郭万林.CAN总线的时间触发调度方法设计及实验研究[J].信息与控制.2005:209-213.
[31]王庆祥,陈家琪.TTCAN系统及其在分布式车辆网络中的应用[J].汽车工程.2005:665-669.
[32]宋国民,欧阳明高.TTCAN系统及其在分布式车辆网络中的应用[J].汽车工程.2005:665-669.
[33]吕伟杰,刘鲁源.CAN总线时间触发机制的实现[J].中国工程科学.2005:40-43.
[34]夏泽中,雷志雄.基于CAN总线的时间触发分布控制系统的设计[J].仪表技术.2005:22-23.
[35]周亦敏,张生.TTCAN协议软件仿真模型的建立与实现.计算机仿真.2005:159-163.
[36]吴旭光,唐苗.基于TTCAN和NCS的鱼雷制导系统结构.西北工业大学学报.2005:750-753.
[37]张广斌,方凯.电动汽车网络协议应用的研究.微计算机信息.2005:111-115.
[38]牛德青,岳曾敬.时间触发的CAN协议[J].兵工自动化.2005:44-46.
[39]孟庆栋,张凤登,刘荣鹏.MCP2515在TTCAN协议Level 1节点中应用[J].微计算机信息.2007,23(2):273-301.
[40]曹万科,张天侠,刘应吉.基于混合调度算法汽车TTCAN网络设计及实时性分析[J].中国工程机械学报.2007(5):62-66.
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