汽车上CAN/LIN混合网络组网技术的研究与应用
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摘要
汽车电子已经成为推动汽车技术进步的主要动力，汽车上越来越多的电子单元要求有网络的连接，从而实现更加智能化的控制，作为汽车中生长着的“神经”，汽车网络已经成为汽车上不可或缺的一部分。近几年中国汽车电子产业正加速发展，在这种大环境下，对汽车网络技术进行研究成为一件非常有意义的事情。
论文主要对汽车上CAN总线网络和LIN总线网络进行了研究，目的是形成一个可在实际中应用的汽车控制网络系统，并能够在实践中得到检验。CAN和LIN均属于汽车上的中低端控制网络，主要是为了实现汽车上的各种电子控制单元的互连而引入的。CAN是在汽车上应用最广泛的网络，而LIN是近几年出现的一种低成本汽车网络，两者在实际应用中不是竞争关系而是互补关系，CAN／LIN混合网络能够在不影响网络性能的前提下降低网络成本。
论文首先简要介绍了汽车电子产业的发展以及汽车网络的概况，对CAN总线和LIN总线汽车上的组网技术进行了分析，包括网络特性和拓扑结构等。然后对混合网络中的关键部件——网关的软硬件设计进行了详细的分析与描述。在网关设计中，采用了32位处理芯片和嵌入式实时操作系统作为设计的基础平台，迎合了当今汽车电子的发展方向。为实现可靠、准确的总线通信与信息交换，在网关中设计了CAN总线和LIN总线的通信函数库以及实现网关信息转发功能的函数。网关完成后进行了测试与通信分析，实现了CAN／LIN网络的互连互通。CAN／LIN混合网络基本搭建完成后，只有在实际应用中才能证明网络的价值。因此，根据两个实际的在研汽车电子项目对CAN／LIN混合网络做了进一步的开发。“基于CAN总线的轮胎压力监测系统”和“基于LIN总线的汽车气候控制系统”两个项目的总线通信部分是由8位单片机完成的，因此在设计上与网关节点有很大不同，在论文中都做了详细的分析与描述。至此，一个由不同CAN节点、LIN节点组成的CAN／LIN混合网络的所有通信部分设计完成。
课题研究设计过程中，对硬件设计、软件设计以及两者的协同设计都做了周密细致的考虑。采用32位MCU和μCOS-Ⅱ操作系统的嵌入式CAN／LIN网关设计是一大特色。设计完成的网关能够实时转发CAN／LIN网络信息，实现了CAN／LIN混合网络上各节点间的信息共享。“基于CAN总线的轮胎压力监测系统”和“基于LIN总线的汽车气候控制系统”这两个设计也是国内汽车电子设计领域内较有特色的设计之一。论文中对这两个系统总体设计和通信设计进行了描述，在实际中检验了汽车CAN／LIN混合网络的应用可行性。希望这些努力能对我国汽车企业自主开发汽车总线系统提供一定的实用价值。
Automobile electronics technology has been main power to push automobile technology go-ahead. Meanwhile, in vehicle a great number of electronics units demand a network connection in order to realize more intelligent control. Just like a nerve system "living" in vehicle, the in-vehicle networks have been convinced of its significance and it is absolutely necessary in a car. Recent years rapid growth of china automobile industry accelerate development of automobile electronics technology, so it is very significative to study in-vehicle networks.
This paper mainly focuses on the study and application of in-vehicle communication based on a CAN/LIN hybrid network. To form an applied automobile network system and make it carried out in practice is the paper's final goal. Both CAN and LIN can be classified to field bus for the application of automotive middle or low control system, and the most important reason they are applied in vehicles is that they can integrate electronic control units into a whole. The CAN bus is the most widely used in cars and the LIN bus helps to optimize system cost and increases system efficiency. CAN and LIN don't compete with each other, but complement one another. The CAN and the LIN hybrid network will reduce the cost to great extent without affecting the performance of the whole system.
After making a simple introduction to development of automobile electronics and in-vehicle networks, the paper above all analyze construction technology of CAN and LIN, including the analysis of characters and topology of them. Then the paper illustrates in detail how to design hardware and software of CAN/LIN gateway which is a pivotal part in the hybrid network. In the design of gateway a platform which is composed by a 32-bit CPU and a RTOS is adopted, and this solution caters to tendency of the design of automobile electronics. CAN communication API functions, LIN communication API function and functions which can exchange data between CAN and LIN are designed in the gateway to ensure a reliable and correct communication in the hybrid network. Test and analysis of the communication have been carried out, which can prove the connectivity of the hybrid network. When construction of the hybrid network is basically finished, it should been put into practice to prove its value. Therefore, the CAN/LIN hybrid network gets further study according to two designs of automobile electronic projects. One is the project of "An Automobile Tyre Pressure Monitoring System Base on CAN Bus", the other is the project of "An Automobile Climate Control System Controlled through a LIN Network". The design of network communications of the two projects is fulfilled by 8-bit MCUs, so there is much difference about the design from the gateway node. All above is got detailed depiction in the paper. Thus, all the design of corresponding part of the hybrid network which is composed by kinds of CAN nodes and kinds of LIN nodes is finally finished.
Through the whole application, it is well considered on how to design hardware, software and both. One of most attractive features in the paper is the adoption of 32-bit CPU andμCOS-Ⅱin the design of the embedded CAN/LIN gateway. The well-done gateway can transmit data in real time, and through it information can share with different nodes which lie in both CAN bus and LIN bus. The two applications - "An Automobile Tyre Pressure Monitoring System Base on CAN Bus" and "An Automobile Climate Control System Controlled through a LIN Network" - are domestic innovations, and similar application is reported rarely in domestic journals. The paper illustrates the whole structure and communications of the two projects, and from another point of view, it is proved the feasibility of the CAN/LIN hybrid network in vehicle. This paper has the use for reference for domestic automobile company to independently develop the in-vehicle networks.
论文主要对汽车上CAN总线网络和LIN总线网络进行了研究，目的是形成一个可在实际中应用的汽车控制网络系统，并能够在实践中得到检验。CAN和LIN均属于汽车上的中低端控制网络，主要是为了实现汽车上的各种电子控制单元的互连而引入的。CAN是在汽车上应用最广泛的网络，而LIN是近几年出现的一种低成本汽车网络，两者在实际应用中不是竞争关系而是互补关系，CAN／LIN混合网络能够在不影响网络性能的前提下降低网络成本。
论文首先简要介绍了汽车电子产业的发展以及汽车网络的概况，对CAN总线和LIN总线汽车上的组网技术进行了分析，包括网络特性和拓扑结构等。然后对混合网络中的关键部件——网关的软硬件设计进行了详细的分析与描述。在网关设计中，采用了32位处理芯片和嵌入式实时操作系统作为设计的基础平台，迎合了当今汽车电子的发展方向。为实现可靠、准确的总线通信与信息交换，在网关中设计了CAN总线和LIN总线的通信函数库以及实现网关信息转发功能的函数。网关完成后进行了测试与通信分析，实现了CAN／LIN网络的互连互通。CAN／LIN混合网络基本搭建完成后，只有在实际应用中才能证明网络的价值。因此，根据两个实际的在研汽车电子项目对CAN／LIN混合网络做了进一步的开发。“基于CAN总线的轮胎压力监测系统”和“基于LIN总线的汽车气候控制系统”两个项目的总线通信部分是由8位单片机完成的，因此在设计上与网关节点有很大不同，在论文中都做了详细的分析与描述。至此，一个由不同CAN节点、LIN节点组成的CAN／LIN混合网络的所有通信部分设计完成。
课题研究设计过程中，对硬件设计、软件设计以及两者的协同设计都做了周密细致的考虑。采用32位MCU和μCOS-Ⅱ操作系统的嵌入式CAN／LIN网关设计是一大特色。设计完成的网关能够实时转发CAN／LIN网络信息，实现了CAN／LIN混合网络上各节点间的信息共享。“基于CAN总线的轮胎压力监测系统”和“基于LIN总线的汽车气候控制系统”这两个设计也是国内汽车电子设计领域内较有特色的设计之一。论文中对这两个系统总体设计和通信设计进行了描述，在实际中检验了汽车CAN／LIN混合网络的应用可行性。希望这些努力能对我国汽车企业自主开发汽车总线系统提供一定的实用价值。
Automobile electronics technology has been main power to push automobile technology go-ahead. Meanwhile, in vehicle a great number of electronics units demand a network connection in order to realize more intelligent control. Just like a nerve system "living" in vehicle, the in-vehicle networks have been convinced of its significance and it is absolutely necessary in a car. Recent years rapid growth of china automobile industry accelerate development of automobile electronics technology, so it is very significative to study in-vehicle networks.
This paper mainly focuses on the study and application of in-vehicle communication based on a CAN/LIN hybrid network. To form an applied automobile network system and make it carried out in practice is the paper's final goal. Both CAN and LIN can be classified to field bus for the application of automotive middle or low control system, and the most important reason they are applied in vehicles is that they can integrate electronic control units into a whole. The CAN bus is the most widely used in cars and the LIN bus helps to optimize system cost and increases system efficiency. CAN and LIN don't compete with each other, but complement one another. The CAN and the LIN hybrid network will reduce the cost to great extent without affecting the performance of the whole system.
After making a simple introduction to development of automobile electronics and in-vehicle networks, the paper above all analyze construction technology of CAN and LIN, including the analysis of characters and topology of them. Then the paper illustrates in detail how to design hardware and software of CAN/LIN gateway which is a pivotal part in the hybrid network. In the design of gateway a platform which is composed by a 32-bit CPU and a RTOS is adopted, and this solution caters to tendency of the design of automobile electronics. CAN communication API functions, LIN communication API function and functions which can exchange data between CAN and LIN are designed in the gateway to ensure a reliable and correct communication in the hybrid network. Test and analysis of the communication have been carried out, which can prove the connectivity of the hybrid network. When construction of the hybrid network is basically finished, it should been put into practice to prove its value. Therefore, the CAN/LIN hybrid network gets further study according to two designs of automobile electronic projects. One is the project of "An Automobile Tyre Pressure Monitoring System Base on CAN Bus", the other is the project of "An Automobile Climate Control System Controlled through a LIN Network". The design of network communications of the two projects is fulfilled by 8-bit MCUs, so there is much difference about the design from the gateway node. All above is got detailed depiction in the paper. Thus, all the design of corresponding part of the hybrid network which is composed by kinds of CAN nodes and kinds of LIN nodes is finally finished.
Through the whole application, it is well considered on how to design hardware, software and both. One of most attractive features in the paper is the adoption of 32-bit CPU andμCOS-Ⅱin the design of the embedded CAN/LIN gateway. The well-done gateway can transmit data in real time, and through it information can share with different nodes which lie in both CAN bus and LIN bus. The two applications - "An Automobile Tyre Pressure Monitoring System Base on CAN Bus" and "An Automobile Climate Control System Controlled through a LIN Network" - are domestic innovations, and similar application is reported rarely in domestic journals. The paper illustrates the whole structure and communications of the two projects, and from another point of view, it is proved the feasibility of the CAN/LIN hybrid network in vehicle. This paper has the use for reference for domestic automobile company to independently develop the in-vehicle networks.
引文
[1] 高成．汽车电子定义与分类之我见．科学网http://www.sciencetimes.com.cn/col38/col90/article.html?id=59104，2005-07-26
[2] 龚进峰，曹健，袁大宏．浅谈我国汽车电子产业发展及发展建议．汽车工程，2004，(3)
[3] 饶运涛，邹继军等编著．现场总线CAN原理与应用技术．北京：北京航空航天大学出版社，2003
[4] 南金瑞，刘波澜编著．汽车单片机及车载总线技术．北京：北京理工大学出版社，2005
[5] www.lin-subbus.org
[6] 邬宽明．CAN总线原理和应用系统设计．北京：北京航空航天大学出版社，2002
[7] 李东江，张大成．汽车车载网络系统(CAN-BUS)原理与检修．北京：机械工业出版社，2005
[8] 汽车电子网 英文摘要LWKP1151-赵http://www.aenmag.com
[9] 王力，张伟．电路设计与制板．北京：人民邮电出版社，2003
[10] 李刚等．Protel DXP电路设计标准教程．北京：清华大学出版社，2005
[11] 杜春雷．ARM体系结构与编程．北京：清华大学出版社，2003
[12] LPC2119/2129/2194/2292/2294 USER MANUAL
[13] TJA 1050-CAN High-Speed Transceiver Application Note.www.philips.com
[14] DATA SHEET TJA1020 — LIN transceiver
[15] AN 10115 Philips Microcontrollers in LIN Applications. www.philips.com
[16] 周立功．ARM嵌入式系统基础教程．北京：北京航空航天大学出版社，2005
[17] 马学文，朱名日，程小辉．嵌入式系统中Bootloader的设计与实现．计算机工程，2005，(7)
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[19] 王田苗．嵌入式系统设计实例与开发．北京：清华大学出版社，2002
[20] 赵文博，刘文涛．单片机语言C51程序设计．北京：人民邮电出版社，2005
[21] 徐爱钧，彭秀华．单片机高级语言C51 Windows环境编程与应用．北京：电子工业出版社，2001
[22] LPC2000系列32位ARM微控制器的CAN接收过滤设置．广州周立功单片机发展有限公司
[23] LIN interface description for PHILIPS microcontrollers, www.philips.com
[24] LIN Consortium, "LIN Specification, Version 1.3", www.lin-subbus.org, December 2002
[25] 秦贵和．车上网络技术。北京：机械工业出版社，2003
[26] (美)Jean J．Labrosse著，袁勤勇等译．嵌入式系统构件．北京：机械工业出版社，2002
[27] CAN-bus通用测试软件及接口函数库使用手册．广州周立功单片机发展有限公司
[28] USBCAN智能接口卡用户手册．广州周立功单片机发展有限公司
[29] 何仁，胡青训，薛翔．汽车轮胎气压监测系统发展综述．中国安全科学学报．2005，(10)
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[49] 邓志华，倪霞林．车载网络CAN和LIN互联技术的研究．汽车科技，2006，(1)
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[2] 龚进峰，曹健，袁大宏．浅谈我国汽车电子产业发展及发展建议．汽车工程，2004，(3)
[3] 饶运涛，邹继军等编著．现场总线CAN原理与应用技术．北京：北京航空航天大学出版社，2003
[4] 南金瑞，刘波澜编著．汽车单片机及车载总线技术．北京：北京理工大学出版社，2005
[5] www.lin-subbus.org
[6] 邬宽明．CAN总线原理和应用系统设计．北京：北京航空航天大学出版社，2002
[7] 李东江，张大成．汽车车载网络系统(CAN-BUS)原理与检修．北京：机械工业出版社，2005
[8] 汽车电子网 英文摘要LWKP1151-赵http://www.aenmag.com
[9] 王力，张伟．电路设计与制板．北京：人民邮电出版社，2003
[10] 李刚等．Protel DXP电路设计标准教程．北京：清华大学出版社，2005
[11] 杜春雷．ARM体系结构与编程．北京：清华大学出版社，2003
[12] LPC2119/2129/2194/2292/2294 USER MANUAL
[13] TJA 1050-CAN High-Speed Transceiver Application Note.www.philips.com
[14] DATA SHEET TJA1020 — LIN transceiver
[15] AN 10115 Philips Microcontrollers in LIN Applications. www.philips.com
[16] 周立功．ARM嵌入式系统基础教程．北京：北京航空航天大学出版社，2005
[17] 马学文，朱名日，程小辉．嵌入式系统中Bootloader的设计与实现．计算机工程，2005，(7)
[18] (美)Jean J．Labrosse著，邵贝贝译．μC／OS-Ⅱ源码公开的实时嵌入式操作系统．北京：中国电力出版社，2001
[19] 王田苗．嵌入式系统设计实例与开发．北京：清华大学出版社，2002
[20] 赵文博，刘文涛．单片机语言C51程序设计．北京：人民邮电出版社，2005
[21] 徐爱钧，彭秀华．单片机高级语言C51 Windows环境编程与应用．北京：电子工业出版社，2001
[22] LPC2000系列32位ARM微控制器的CAN接收过滤设置．广州周立功单片机发展有限公司
[23] LIN interface description for PHILIPS microcontrollers, www.philips.com
[24] LIN Consortium, "LIN Specification, Version 1.3", www.lin-subbus.org, December 2002
[25] 秦贵和．车上网络技术。北京：机械工业出版社，2003
[26] (美)Jean J．Labrosse著，袁勤勇等译．嵌入式系统构件．北京：机械工业出版社，2002
[27] CAN-bus通用测试软件及接口函数库使用手册．广州周立功单片机发展有限公司
[28] USBCAN智能接口卡用户手册．广州周立功单片机发展有限公司
[29] 何仁，胡青训，薛翔．汽车轮胎气压监测系统发展综述．中国安全科学学报．2005，(10)
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